Robotic Impedance Control with Fuzzy Sliding Model Control Strategy

During robotic assembly and interactive applications, the robot end-effector must follow a motion trajectory and exert an appropriate force profile against the contacted environment to provide a specified dynamic working compliance. It is a difficult control problem. Here, an embedded robotic control structure is constructed and the related hybrid control software programs are developed. The model-free intelligent fuzzy sliding mode controller is introduced to design force and position controllers, respectively for hybrid impedance control purpose. The experimental results are provided to demonstrate the effectiveness of the proposed hybrid impedance control system.