Fuzzy PD+I control of a six DOF robot manipulator.
Srinivasan AlavandarM. J. NigamPublished in: Ind. Robot (2008)
Keyphrases
- robot manipulators
- end effector
- sliding mode
- force control
- inverse kinematics
- control scheme
- control of robot manipulators
- fuzzy neural network
- variable structure
- trajectory planning
- dynamic model
- robotic manipulator
- degrees of freedom
- fuzzy sets
- membership functions
- fuzzy rules
- pose estimation
- control system
- pid controller
- fuzzy logic
- fuzzy logic controller
- robotic arm
- closed loop
- fuzzy systems
- fuzzy numbers
- input output
- vision system
- simulated annealing
- genetic algorithm