Adaptive Force/Motion Control System Based on Recurrent Fuzzy Wavelet CMAC Neural Networks for Condenser Cleaning Crawler-Type Mobile Manipulator Robot.
Thanglong MaiYaonan WangPublished in: IEEE Trans. Control. Syst. Technol. (2014)
Keyphrases
- control system
- fuzzy logic
- motion control
- motion planning
- neural network
- end effector
- sagittal plane
- control law
- fuzzy rules
- humanoid robot
- fuzzy controller
- position control
- robotic manipulator
- pi control
- fuzzy sets
- feed forward
- nonlinear systems
- recurrent neural networks
- mobile robot
- cerebellar model articulation controller
- degrees of freedom
- fuzzy systems
- control strategy
- robot arm
- closed loop
- control signals
- inverse kinematics
- force control
- fuzzy neural network
- cmac neural network
- control scheme
- motion estimation
- membership functions
- configuration space
- trajectory tracking
- back propagation
- adaptive neural
- adaptive control
- position and orientation
- wavelet transform
- sliding mode
- tracking error
- real environment
- control algorithm
- neural network controller
- path planning
- robot motion
- control architecture
- visual servoing
- real time
- vision system
- force feedback
- search engine
- robot manipulators
- website
- artificial neural networks
- fuzzy logic controller
- fuzzy control
- neuro fuzzy
- adaptive learning
- wheeled mobile robot
- robot control
- web pages
- dynamic environments
- multi robot
- lyapunov theory
- physical constraints
- learning capabilities
- incremental learning
- human motion
- image sequences
- robotic systems
- parallel robot
- denoising
- robotic arm
- reinforcement learning