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In this paper, we present a hierarchical force control framework consisting of a high-level control system based on fuzzy logic and the existing motion control system of a manipulator in the low level. In order to adapt various contact conditions, an adaptable fuzzy force control scheme has been proposed to improve the performance. The ability of the adaptable force control system is achieved by tuning the scaling factor of the fuzzy logic controller (FLC). A Mitsubishi MELFA RV-M1 industrial robot equipped with a BL Force/Torque sensor is utilized for implementing the hierarchical fuzzy force control system. Successful experiments for various contact motions are carried out. Additionally, discussion of a peg-in-hole insertion is presented, and the experimental results are given.
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Lin et al. (1998) studied this question.
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