Research on Compliant Control of Collaborative Robots Based on Fuzzy Iterative Algorithm

In human-robot collaboration, the control system must maintain sufficient stability and high precision and ensure robots have good compliance and quick response. In this paper, research is carried out on the compliance control of a collaborative robot with six rotary joints, so that the robot can quickly and accurately realize position tracking and ensure the compliance of its movements. The impedance control algorithm based on joint space was proposed to realize the variable impedance dragging function of the robot. The kinematics model of the robot is established by using Rodrigues’ rotation formula, which simplifies the derivation of the kinematics. The fuzzy algorithm has good nonlinearity and can reduce the convergence times of iterations. Based on the dynamics of the robot, the fuzzy iterative algorithm is designed to correct the position error of the robot in trajectory tracking. During the tracking process of the robot, the effectiveness and position-tracking ability of the algorithm are verified.