MODELING AND CONTROL OF ROBOTICS

IMPEDANCE CONTROL USING FUZZY LOGIC

Impedance control is an essential requirement due to the fact that it is the inverse of mechanical compliance, which plays a critical role in a task which involves contact with the environment. It will thus ensure coupled stability while polishing and molding unknown structures.  In this project, it is discussed the method of impedance control and using the admittance is proposed a high precision fuzzy controller with a self-adjustment quantitative factor.  This method can be implemented in real-time, it also helps maintain the stability and dynamic characteristics.

DISTRIBUTED CONTROL ALGORITHM

Simulated a distributed control algorithm to drive a multi-agent system with a single leader (which has knowledge about target locations) to the target positions with collision avoidance.