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A novel position impedance controller with force estimation model is proposed to suppress the uncertainty of the position in robotic machining process. This control strategy employs a fuzzy logic controller to regulate the impedance parameters to reduce the disturbance in constrained motion and improve the effect of force control. An empirical force model taking into consideration the burrs affection...
The interaction force and the environmental uncertainties and changes are the most challenges for robotic material removal process. A self-tuning fuzzy strategy is adopted to implement the on-line compensation for the static error caused by the traditional impedance controller to improve the control performance. The fuzzy controller is adjusted by an updating factor to select the most appropriate...
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