Fuzzy compliance robot control using multi rule-base

The authors propose a compliance robot control algorithm using a fuzzy adaptive controller and a fuzzy compliance vector generator. Because a compliant motion robot subject to external forces by contact with the external environment has increased nonlinearity, controller adaptivity is required. Existing adaptive controllers have difficulties in dealing with real-time processes. The fuzzy adaptive controller principle is applied to overcome this problem. The use of a fuzzy compliant selection vector generator is proposed for flexible compliant motion. The performance of the proposed algorithm was confirmed by experimental results