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 contactReferences
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Authors
Hassan SAMRIMorocco
Authors
Laila AIT MAALEMMorocco
Authors
Hicham AIT EL ATTARMorocco
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