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A fuzzy-based impedance control for force tracking in unknown environment

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Abstract

Industrial manufacturing operations, such as grinding and polishing, are characterized by relatively constant contact force. In this article, a fuzzy-based adaptive impedance is proposed, which can grind or polish workpieces of different materials with constant contact force. The environmental parameters are estimated by iterative calculation with recursive least squares (RLS). The impedance parameters, such as damping and stiffness, are taken as the outputs of the fuzzy controller. The proposed force controller can track the desired force without the prior knowledge of the environment information. Experiments are conducted in finishing tasks using the self-developed industrial robot to verify the adaptive impedance control. The environmental parameters are instantly estimated for the following adjustment of the impedance parameters, and the real time contact force shows that the adaptive fuzzy logic impedance controller can achieve better performance with the oscillation below 2 N as the machining surface of the workpiece is not predefined.

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Acknowledgments

This work was supported in part by the NSFC-Shenzhen Robot Basic Research Center project U2013204.

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Authors and Affiliations

  1. School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai, 200240, China

    Yichao Shen, Yan Lu & Chungang Zhuang

Authors
  1. Yichao Shen
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  2. Yan Lu
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  3. Chungang Zhuang
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Corresponding author

Correspondence to Chungang Zhuang.

Additional information

Yichao Shen received the B.E. and M.E. degrees in Mechanical Engineering from Shanghai Jiao Tong University, Shanghai, China, in 2018 and 2021, respectively. His research interests include robotic force control machining, force control assembly of industrial robots, and robot machining path planning.

Yan Lu received the B.E. degree in Mechanical Engineering from Wuhan University of Technology, Wuhan, China, in 2019. He is currently pursuing a Ph.D. degree in Mechanical Engineering at Shanghai Jiao Tong University. His research interests include force control of industrial robots, vision based robotic grinding, and state monitoring of robot machining.

Chungang Zhuang received the Ph.D. degree from the School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai, China, in 2007. He is currently an Associate Professor with the School of Mechanical Engineering, Shanghai Jiao Tong University. His research interests include machine vision, force control of industrial robots, and multidisciplinary design and optimization.

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Shen, Y., Lu, Y. & Zhuang, C. A fuzzy-based impedance control for force tracking in unknown environment. J Mech Sci Technol 36, 5231–5242 (2022). https://doi.org/10.1007/s12206-022-0936-6

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  • DOI: https://doi.org/10.1007/s12206-022-0936-6

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