The human-simulation intelligent control of contact force based on the detection of ultrasonic sensors

A detecting method is presented for a robot with ultrasonic sensors in unknown environment. A structure model of the detecting system is built, and describing its operation principle. Because of the uncertainty, variability and unstructured of the environment, accurate exploration is almost impossible. Therefore, it is very difficult to realize high-precision control by the usual control methods of contact force. In order to solve the above-said problem, a human-simulation intelligent control method of contact force is presented. The basic principle of the intelligent control method is that it can chooses the appropriate programs prepared in advance according to the size and sign of the force error and change rate of the error. The experimental results show that this method greatly improves the control precision.