Fuzzy Self-Tuning Precompensation PD Control with Gravity Compensation of 3 DOF Planar Robot Manipulators.
Ahmed F. AmerElsayed A. SallamWael Mohammed ElawadyPublished in: J. Robotics Mechatronics (2010)
Keyphrases
- robot manipulators
- sliding mode
- end effector
- pid controller
- variable structure
- control scheme
- inverse kinematics
- control of robot manipulators
- force control
- sliding mode control
- fuzzy neural network
- adaptive controller
- fuzzy logic
- control strategy
- control system
- fuzzy logic controller
- robotic manipulator
- control method
- dynamic model
- degrees of freedom
- fuzzy sets
- fuzzy clustering
- robot arm
- fuzzy rules
- control theory
- fuzzy controller
- vision system
- adaptive control
- control law
- genetic algorithm
- artificial intelligence