Two-Arm Coordination Control by Learning on a B -Spline Model

To enable a two -arnt manipulator system to perform complex cooperating tasks such as carrying ci rigid object, establishing a contact to a surface, grinding, etc ., a nonlinear multiple input system should be solved. We apply an approach to on line automatic learning of a B-spline fuzzy controller: This controller model directly connects the sensor inputs to the compensation motion. By using the adaptation of control actions in all possible situations through practising of the robots in the real environment , uncertainties of the robot object model can be taken into account. The compliant motion controller of the robot system can be adapted to new situations in a short time thanks to the on-line learning approach.