INTELLIGENT CONTROLL OF THE GRIPPING FORCE OF AN OBJECT BY TWO COMPUTER-CONTROLLED COOPERATIVE ROBOTS

Abstract

This paper presents a method based on Multiple Adaptive Neuro-Fuzzy Inference System (MANFIS) to regulate the handling force of a common object. The foundation of this method is the prediction of the inverse dynamics of a cooperative robotic system made up of two 3-DOF robotic manipulators. Considering the lack of slippage in the contact between the tool and the object, the object is moved. To create and feed the MANFIS database, the inverse kinematics and dynamic equations of motion for the closed chain of motion for both arms are established in Matlab. Results from a SimMechanic simulation are given to demonstrate how well the suggested MANFIS controller works. Several manipulated object movements covering the shared work¬space of the two manipulator arms are used to test the proposed control strategy. The simulation results indicate that the proposed control strategy is effective in regulating the handling force of a common object with varying desired forces, and does not require the use of force sensors on the object-tool contact.

Keywords

• cooperative robotic system
• handling force
• manfis controller
• object-tool contact