Robust robot compliant motion control using intelligent adaptive impedance approach

This paper presents a simple and computationally efficient control scheme for improving the constrained motion control performance of an impedance controlled industrial robot interacting with an uncertain stationary environment. The proposed method combines the model-based and fuzzy control techniques. The scheme consists of three main components: a basic infernal position control loop, an external impedance controller realizing target model behavior, and a fuzzy adaptation mechanism that modifies impedance parameters according to the difference between the actual and desired force responses. Several experiments performed on an industrial robot are conducted to demonstrate the performance of the new approach. The comparison with conventional impedance control laboratory experiments illustrates advantages and drawbacks of the proposed scheme.