Position Control of Direct-Drive Robot Manipulators with PMAC Motors Using Enhanced Fuzzy PD Control.
Dong SunYuxin SuJames K. MillsPublished in: J. Adv. Comput. Intell. Intell. Informatics (2004)
Keyphrases
- robot manipulators
- position control
- force control
- robotic manipulator
- control scheme
- direct drive
- end effector
- fuzzy controller
- inverse kinematics
- control system
- control strategy
- closed loop
- pid controller
- dynamic model
- fuzzy neural network
- fuzzy logic controller
- pi controller
- fuzzy logic
- fuzzy sets
- degrees of freedom
- control law
- fuzzy control
- dc motor
- visual servoing
- mathematical model
- control method
- membership functions
- control strategies
- nonlinear systems
- robotic systems
- fuzzy rules
- multi objective
- particle swarm optimization
- fuzzy systems
- fuzzy numbers
- neural network
- vision system
- rough sets
- fuzzy clustering
- artificial neural networks