Fuzzy Sliding Mode Joint Impedance Control for a tendon-driven robot hand performing peg-in-hole assembly.

Published in: ROBIO (2016)

Keyphrases

force control
sliding mode
robot manipulators
impedance control
position control
control strategy
sliding mode control
control law
variable structure
inverse kinematics
control scheme
end effector
dynamic model
joint angles
pid controller
control strategies
fuzzy clustering
learning algorithm
neural network
real time