Fuzzy hybrid force/position control of dual-arm robot based on genetic algorithm

Recent years, research on the technology of redundant dual-arm robot system for space-station operation gets considerable attention. Based on recent research conditions, coordinated control of the redundant dual-arm robot working inside the capsule is studied in this paper. According to the force on dual-arm robot during its coordinating task, a fuzzy hybrid force/position control strategy based on genetic algorithm is presented. The approach transforms force error of robot's end-effector into the position correction of robotic position controller through fuzzy control, so hybrid force/position control can be realized without changing the robotic position controller. The fuzzy control rules are optimized off line with genetic algorithm, and the collectivity crossover probability and the collectivity mutation probability use a self-adaptive control strategy to improve the arithmetic performance. Finally, through 3D simulation and experiment of force following in conveying a box by redundant dual-arm robot, the feasibility and applicability of the control strategy are verified.