Impedance model based fuzzy force control for robot manipulator contacting with a constrained surface with uncertain errors

Force control algorithm of the robot manipulator contacting with a constraint surface with uncertain figure and stiffness error is discussed in this paper. To accomplish the accurate parameter less-relying constraint motion, a real-time adjusting fuzzy logic of reference trajectories in impedance model is proposed. The adjustment depends on the real-time force and position feedback. Simulation experiments confirm that the control law is competent for situations where accurate models of the constraint surface can not be obtained.