Force control of a SMA actuated gripper by using self tuning fuzzy PID controller.
Alireza KhodayariBanafshe ZarefarMohammad Mahdi KheirikhahEhsan MirsadeghiPublished in: ICCSCE (2011)
Keyphrases
- force control
- pid controller
- robotic cell
- robot manipulators
- closed loop
- control scheme
- control system
- control law
- control method
- particle swarm optimization
- pid control
- feedback control
- control parameters
- control strategy
- rbf neural network
- fuzzy logic controller
- fuzzy control
- end effector
- control algorithm
- bp neural network
- pso algorithm
- radial basis function
- dynamic model
- evolutionary algorithm
- contact force
- genetic algorithm
- nonlinear systems
- rough sets
- real time