A high-precision fuzzy impedance control algorithm and application in robotic arm

摘要

In machining die and mold with free-form surfaces, We not only require the movement of the technical apparatus can guarantee the polishing tool finish machining the work piece according to the scheduled lines or the technological requirement, but also require the force between the polishing tool and the work piece is compliant to the change of curvature radius of die and mold with free-form surfaces. To realize the compliance control of robotic arm, we presented a novel impedance control method for high-precision fuzzy controller with self adjustment quantitative factor on a sampling polishing compression force in this paper. 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 robotic arm.