Research On Force Control Of Robot's End Effector

At first, the development of Robot is described and four methods of Robot force control mentioned.Then, a simple end effector is designed, which can be taken into several different transfer functions in different rigid environments.In the third chapter, a new way, namely nonlinear PD force control, is designed on the basis of Popov's stability criterion to control the end effector working under environment with big rigidity variations. The controller is presented effectively on the platform of MATLAB. Then time delay and signal disturbance are also considered during controlling and Smith delay control and the way of 'differential-track' are integrated into the PD controller respectively to solve these disturbances, both of which are proved effective.In addition, two fuzzy controllers are also designed. One follows the way of nonlinear PD control, the other taking advantage of some optimal parameters obtained through optimal control in different environment conditions. Using these optimal parameters, we can get fuzzy rules, which are used to build a new fuzzy controller. The two fuzzy controllers are also presented effective by simulation.At last, some work about transferring the simulation results into practice is considered.