Abstract
Active accommodation of robotic manipulator in assembly applications is considered. Mechanical impedance control concept has been chosen for development an intelligent controller for assembly robots, where target impedance appears as a control variable. Basic assumption for successful part mating process according to part mating theory is mechanical isotropy of support system. Consequently, target impedance should be adopted as isotropic. The main problem appearing here is complex analytical formulation of isotropic target impedance and uncertainty of parameters related to the robot and environment model. To overcome this problem an adaptive fuzzy model of isotropic target impedance is proposed. The fuzzy model is incorporated into general impedance control law form, to obtain new fuzzy-impedance control law. Proposed control law has been verified by computer simulation.
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