Fuzzy rule-based adaptive force control of a single DOF mechanisms

A position/force control with completely fuzzified adaptive force control system for the single degree of freedom mechanisms is presented. The proposed force control scheme contains are adaptive fuzzy force controller and a subordinated fuzzy velocity controller. By using a second-order referent model, a model reference-based fuzzy adaptation mechanism is able to keep the error between the model and system output responses within the desired limits. The results obtained by computer simulations indicate a stable performance of the force control system for a wide range of environment stiffness variations. The proposed adaptive force control method is efficient in the case of contact with the rough surface or the complex form workpiece.