Impedance control of a manipulator using a fuzzy model reference learning controller

Authors:
M. Tarbouchi;M. R. Strawson;H. Benabdallah
Affiliations:
Department of Electrical and Computer Engineering, Royal Military College of Canada, Kingston, Ontario, Canada;Department of Mechanical Engineering, Royal Military College of Canada, Kingston, Ontario, Canada;Department of Mechanical Engineering, Royal Military College of Canada, Kingston, Ontario, Canada
Venue:
ACMOS'08 Proceedings of the 10th WSEAS International Conference on Automatic Control, Modelling & Simulation
Year:
2008

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Abstract

The aim of this paper is to present a position based impedance control scheme using a Fuzzy Model Reference Learning Controller (FMRLC). In the proposed control scheme, the static relationship between displacement and force is quantified through a desired stiffness. The desired dynamic behaviour of the system is quantified through the use of a reference model. Through ensuring that the closed loop behaviour of the system is the same as the behaviour of the reference model, the dynamic relationship between motion and force can be regulated. When properly developed, the FMRLC has the ability to improve performance during repetitive tasks by learning through continued interaction with its environment in order to maintain desired and predictable behaviour.