Fuzzy model based environmental stiffness identification in stable force control of a robot manipulator

Abstract

In this paper, we propose a new force control method in contact tasks using a fuzzy model. The contact force that is exerted on the environment by the link is some general function of the displacement, and not necessarily linear. First, a new identification method of a fuzzy model is proposed and then a nonlinear function of contact force is modeled by a proposed identification algorithm of a fuzzy model. The system stability for the proposed force control method is proved theoretically using a Lyapunov direct method. Finally it is shown that the proposed method is useful for the force control of manipulator by simulation. © Springer-Verlag Berlin Heidelberg 2005.