Abstract
To improve the force control and position control performance of the hydraulic series manipulator, the author presents a double-weighting-factor fuzzy variable impedance control method, in order to have the manipulator end track the expected force along the environmental surface. Based on the dynamic model of the three-degree-of-freedom hydraulic series manipulator, the contact space and free space of the impedance control are analysed. A fuzzy controller is designed while supposing that the environmental information is known, to get Bd and Kd adjusted. Considering the time-varying characteristics of the system, a fuzzy controller with double weighting factors is designed to enhance the self-adjusting capability and the performance of the fuzzy controller. The simulation result shows that the proposed method achieves a good tracking control of force and position when the environmental parameters are time-varying.
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