Intuitive Teaching of Six-axis Robot Manipulator Based on Fuzzy Impedance Control

In this paper, a design and implementation method of a fuzzy impedance control method and an intuitive teaching system is proposed for a six-axis robot manipulator. The impedance controller with a fuzzy parameter K controller is proposed to calculate the parameter K to achieve the desired position output more precisely. In the design and implementation of the teaching system, an instructor can directly apply a push/pull force on the end-effector of robot manipulator to move its position and edit the task so that the robot manipulator can perform the movement of task position and the gripper's state.