Fuzzy PD compliance control of 6 degrees-of-freedom robot using disturbed force sense

This paper deals with force control when the force sense is disturbed, using a lowpass filter and a fuzzy PD controller. The force sense is installed on the endpoint of the robot having six degrees-of-freedom (6-DOF), with a probe mounted on it. The robot is equipped with industrial position servos and serves in the position mode, uses velocity commands to control the force. To deal with the noises, the filter is necessary. In order to perform the advantages of the fuzzy PD controller in this situation, the authors compare it with the traditional PD controller. From the experimental result, the performance of the fuzzy PD controller is much better than the traditional PD controller.