Abstract
Abstract This paper proposes a combination of classical impedance controller with a fuzzy predictive algorithm. This control strategy allows for the inclusion of a nonlinear environment in the control design in a straightforward way, improving the global force control performance. In order to reduce the oscillations of the optimized reference position, a fuzzy scaling machine is included in the force control strategy. The performance of the force control scheme is illustrated for a two degree-of-freedom robot. Simulation results obtained with the fuzzy control scheme reveal an accurate force tracking performance considering non-rigid environments.
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