Explicit fuzzy force control of industrial manipulators with position servo drives.
Il Hong SuhKwang Sik EomHee-Joo YeoB. H. KangSang-Rok OhBum Hee LeePublished in: IROS (1994)
Keyphrases
- force control
- control law
- position control
- degrees of freedom
- adaptive control
- robot manipulators
- closed loop
- control strategy
- contact force
- end effector
- control system
- fuzzy sets
- fuzzy logic
- fuzzy controller
- membership functions
- robotic cell
- fuzzy control
- fuzzy neural network
- impedance control
- fuzzy numbers
- fuzzy rules
- fuzzy systems
- position and orientation
- control scheme
- control algorithm
- path planning
- pid controller
- master slave
- optimal control
- fuzzy clustering
- real time
- fuzzy logic controller
- control method
- inverse kinematics