Control of three degrees-of-freedom underactuated manipulator using fuzzy based switching.
Lanka UdawattaKeigo WatanabeKiyotaka IzumiKazuo KiguchiPublished in: Artif. Life Robotics (2004)
Keyphrases
- degrees of freedom
- robotic arm
- end effector
- motion planning
- robotic manipulator
- parallel manipulator
- mechanical systems
- pose estimation
- motion tracking
- control system
- minimally invasive surgery
- fuzzy logic
- articulated objects
- fuzzy sets
- articulated hand
- receding horizon
- membership functions
- joint space
- variable structure
- path planning
- control strategy
- robot arm
- configuration space
- fuzzy logic controller
- d objects
- fuzzy controller
- joint angles
- human body
- robot manipulators
- object recognition