Intelligent Force Control for Robotic Tasks in Varied Unknown Environments

This paper introduces an intelligent impedance controller tailored specifically for redundant robots engaged in physical interactions. The controller enables the robots to perform predefined tasks accurately by regulating their parameters in unknown environments. The intelligent impedance controller is based on the fuzzy Mamdani method and is designed to accurately track the desired force in different environments. By utilizing appropriate fuzzy rules, the controller dynamically adjusts both the robot’s behavior and controller parameters. Extensive simulations are conducted using a 7DOF KUKA LWR robot arm to demonstrate the effectiveness and superiority of our intelligent controller over the classical method. The results show a notable reduction in steady-state force tracking error by 60 to 98% compared to the classical method, as well as improved tracking of the desired force. Meanwhile, settling time is improved considerably.