A fuzzy-inference-based adaptive impedance control for Delta robots

Purpose Intelligent environmental adaptability and safe human–robot interaction are essential for Delta robots operating in dynamic environments. Hence, this paper aims to improve the existing method to achieve robust and safe robots. Design/methodology/approach The authors develop a position-based impedance control scheme for a Delta robot in pick-and-place tasks and analyze the effect of impedance parameters on its performance. Moreover, the authors design a fuzzy-inference-based adaptive impedance control method for complex and dynamic environments. Findings Simulation and experimental results verify the effectiveness of the designed approach. Originality/value This paper designs a fuzzy-inference-based adaptive impedance controller that does not require external sensors. Compared with position-based impedance controller, this method can avoid complex parameter tuning problems and improve the robustness and adaptability of Delta robots.