Manipulators are now widely used in many aspects and many of them are cooperative with human. This requires higher security performance to manipulators. The compliance control to the manipulator seems difficult because of features of actuators, mechanical inertia, the coupling forces and the requirement of smooth and accurate control. We presented a compliance control method based on fuzzy methodology to guarantee the compliance of the manipulator. We designed a fuzzy controller to decrease the forces when the manipulator is stuck to ensure safety. We combined the fuzzy controller with the dynamic model of the manipulator to form a new mathematics model. This model is consist of three parts: the compensation of the Coriolis and centripetal force and gravity, proportional control and the feedback of the fuzzy controller. Simulation results on a 6-DOF manipulator, OUR-1, show this compliance controller we designed can guarantee the compliance and ensure safety when cooperating with human.
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