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kharmandar--negar
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Impedance Force Control of a Robot Manipulator Using a Neuro-Fuzzy Controller
, M.Sc. Thesis Sharif University of Technology ; Khayyat, Amir Ali Akbar (Supervisor)
Abstract
The present study discusses the problem of enabling a PUMA 560 electrical robot manipulator to interact with the environment using impedance control concept. The impedance control strategy maintains a pre-specified desired second order dynamic relation between the end-effector position and force and enables a stable transmission between unconstrained and constrained motion. In this study Position-Based Impedance Control (PBIC) is used which is more suitable for industrial manipulators. PBIC requires a position controller with high accuracy. Therefore, a nonlinear PID controller is used in the position loop which is capable of both tracking and regulating of the input signals and shows better...