Neuro-fuzzy based Motion Control of a Robotic Exoskeleton: Considering End-effector Force Vectors.
Kazuo KiguchiMohammad RahmanMakoto SasakiPublished in: ICRA (2006)
Keyphrases
- neuro fuzzy
- motion control
- end effector
- position control
- visual servoing
- robotic manipulator
- mobile robot
- control system
- joint space
- degrees of freedom
- robotic arm
- vision system
- robot control
- fuzzy rules
- robot arm
- control law
- force feedback
- control scheme
- closed loop
- camera motion
- real robot
- robot manipulators
- image space
- inverse kinematics
- motion planning
- path planning
- surgical robot
- autonomous navigation
- autonomous robots
- recurrent neural networks
- fuzzy logic
- control strategies
- control strategy
- robotic systems
- fuzzy neural network
- force control
- physical constraints
- three dimensional
- genetic algorithm
- real world
- configuration space
- control algorithm
- fuzzy controller
- dynamic environments
- rough sets
- nonlinear systems
- neural network