Force impedance control of a robot manipulator using a Neuro-Fuzzy controller

This article addresses the problem of enabling a robot manipulator to interact with the environment using the concept of impedance control. As the performance of the Position-Based Impedance Control is highly dependent on the accuracy of the position controller first a time-varying integral plus proportional-derivative controller is applied to the system which is capable of both regulating and tracking of input signals. The proposed impedance controller is used in a task including an interrupted trajectory tracking to check the ability of the Position-Based Impedance Control in tracking and regulating of the position and the force. To enable the impedance controller to track a desired force a Neuro-Fuzzy controller is proposed in the presence of unknown environment dynamic. Results obtained from various tests demonstrate the feasibility and effectiveness of the proposed strategy.