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

ABDERRAHIM BAHANI

abdeer.bahani@gmail.com
(Morocco)
https://orcid.org/0000-0002-6794-2487

El Houssine Ech-Chhibat


(Morocco)
https://orcid.org/0000-0002-1979-0634

Hassan SAMRI


(Morocco)

Laila AIT MAALEM


(Morocco)

Hicham AIT EL ATTAR


(Morocco)

Abstract

This paper presents a Multiple Adaptive Neuro-Fuzzy Inference System (MANFIS)-based method for regulating 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 no slip in contact between the tool and the object, an 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 ANFIS controller works. Several manipulated object movements covering the shared workspace of the two manipulator arms are used to test the proposed control strategy.


Keywords:

Cooperative robotic system, Handling force, MANFIS controller, object-tool contact

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Published
2023-03-31

Cited by

BAHANI, A., Ech-Chhibat, E. H. ., SAMRI, H. ., AIT MAALEM , L. ., & AIT EL ATTAR , H. . (2023). INTELLIGENT CONTROLLING THE GRIPPING FORCE OF AN OBJECT BY TWO COMPUTER-CONTROLLED COOPERATIVE ROBOTS . Applied Computer Science, 19(1), 133–151. https://doi.org/10.35784/acs-2023-09

Authors

El Houssine Ech-Chhibat 

Morocco
https://orcid.org/0000-0002-1979-0634

Authors

Hassan SAMRI 

Morocco

Authors

Laila AIT MAALEM  

Morocco

Authors

Hicham AIT EL ATTAR  

Morocco

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