Adaptive Impedance Force Controller Design for Robot Manipulator including Actuator Dynamics.
Zong-Yu JhanChing-Hung LeePublished in: Int. J. Fuzzy Syst. (2017)
Keyphrases
- position control
- control scheme
- controller design
- robot manipulators
- tracking error
- control of robot manipulators
- dynamic model
- force control
- closed loop
- control system
- control strategy
- control law
- inverse kinematics
- end effector
- pid controller
- nonlinear systems
- fuzzy controller
- adaptive control
- experimental data
- adaptive fuzzy
- optimization algorithm
- rough sets
- decision making