Abstract
This paper proposes combining a classical impedance controller with a fuzzy predictive algorithm. This algorithm calculates the optimal virtual trajectory that is given to the impedance controller. This control strategy allows for the inclusion of a non-rigid environment, represented by a nonlinear model, in the control design in a straightforward way. Thus, 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 an experimental two-degree-of-freedom robot. A real-time implementation of the fuzzy predictive algorithm revealed better performance in terms of force control than the classical force control algorithms.
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