Robust force control system based on fuzzy acceleration control algorithm

Abstract

A robust force and compliance control based on a novel acceleration control system is proposed. This acceleration control system is based on a fuzzy algorithm. Using the proposed acceleration controller, the servomotor can be driven by a specified acceleration control command. The structure of this controller is simple and effective for robust force and compliance control. The proposed acceleration control system is realized by a digital signal processor software algorithm, and it regulates the force and compliance to the target environment well.<>