Control of three degrees-of-freedom underactuated manipulator using fuzzy based switching.
Lanka UdawattaKeigo WatanabeKiyotaka IzumiKazuo KiguchiPublished in: Artif. Life Robotics (2004)
Keyphrases
- degrees of freedom
- robotic arm
- end effector
- motion planning
- robotic manipulator
- parallel manipulator
- pose estimation
- motion tracking
- fuzzy sets
- mechanical systems
- control system
- configuration space
- articulated objects
- joint space
- minimally invasive surgery
- fuzzy logic controller
- membership functions
- path planning
- robot control
- robot arm
- joint angles
- control strategy
- fuzzy rules
- training set
- receding horizon