DIRECT FORCE/POSITION CONTROL OF ROBOT WITH SELF-ADAPTIVE FUZZY CONTROL ATTACHEDIN FORCE OUTER LOOP

This paper presents a kind of self-adaptive fuzzy controller with fuzzy rules trained by neural network. For general industrial robot,the controller can achieve the force/postion control,if it is used in force outer loop on the premise that the robot position controller is not changed. The simulation results show that the proposed control method dramatically improves the self-adaptivity of the system to the variation of contact stifness of constrained environment.