Fuzzy-based variable impedance control of uncertain robot manipulator in the flexible environment: A nonlinear force contact model-based approach

摘要

In this paper, a variable impedance control method is proposed for uncertain robotic systems based on a nonlinear force contact-based flexible environmental model. First, a nonlinear force contact model between the rigid manipulator and flexible environment is applied to the compliant control of the manipulator, which can avoid excessive force overshoot that usually exists in the traditional spring-damping environmental model. Then, to achieve better force/position tracking performances, a fuzzy-based adaptive variable impedance controller is designed based on the force contact-based flexible environmental model, where the impedance parameters are adjusted online through the force and position feedback of the robotic system, and the fuzzy logic system is used to compensate the uncertainties. Moreover, the stability of the adaptive variable impedance control scheme is proved by the Routh stability criterion, and the boundness of all the signals in the closed-loop control system is guaranteed by the Lyapunov stability theorem. Finally, the effectiveness of the proposed method is verified by the simulation of a two-link manipulator, and the results demonstrate that the performances of position tracking are improved, while the force overshoot and oscillation time are reduced.