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

This paper presents a Multiple Adaptive Neuro-Fuzzy Inference System (MANFIS)-based method for regulating the handling force of common object. The foundation this is prediction inverse dynamics cooperative robotic system made up two 3-DOF manipulators. Considering no slip in contact between tool and object, an object moved. to create feed MANFIS database, kinematics dynamic equations motion closed chain both arms are established Matlab. Results from SimMechanic simulation given demonstrate how well suggested ANFIS controller works. Several manipulated movements covering shared workspace manipulator used test proposed control strategy.