An optimal fuzzy-PI force/motion controller to increase industrial robot autonomy.
Nuno MendesPedro NetoJ. Norberto PiresAltino LoureiroPublished in: CoRR (2013)
Keyphrases
- motion control
- end effector
- sagittal plane
- robotic manipulator
- control signals
- force control
- pi control
- humanoid robot
- robot manipulators
- fuzzy controller
- inverse kinematics
- control strategy
- motion planning
- mobile robot
- operating point
- position and orientation
- variable structure
- control law
- membership functions
- closed loop
- robot motion
- contact force
- control system
- motion estimation
- fuzzy logic
- fuzzy sets
- robot arm
- visual servoing
- degrees of freedom
- autonomous navigation
- real time
- vision system
- position control
- optimal control
- parallel robot
- biped walking
- control algorithm
- force feedback
- pi controller
- sliding mode
- configuration space
- impedance control
- physical constraints
- inverted pendulum
- control architecture
- multi robot
- robotic systems
- camera motion
- image sequences
- joint angles
- human robot interaction
- biped robot
- fuzzy control systems
- path planning
- wheeled mobile robot
- moving objects
- central pattern generator