High precision fuzzy impedance control of free-form surfaces polishing robotic arm based on position control

Abstract

In this paper, a novel impedance control method for high precision fuzzy controller with self adjustment quantitative factor is presented. This method can not only realize the real-time control by adjusting impedance parameters, but also enhance the stability and dynamic characteristics of the system. We have demonstrated this strategy is feasible and effective based on the simulation researches of free-form surfaces polishing robotic arm