Fuzzy-PD Controller with Online Gravity Compensation for 3-Dof Manipulator.
Yueyuan ZhangYu-Dong ZhaoShikai ZhangJangmyung LeePublished in: UR (2019)
Keyphrases
- robotic manipulator
- degrees of freedom
- control system
- fuzzy controller
- control scheme
- fuzzy logic
- real time
- online learning
- fuzzy sets
- path planning
- closed loop
- end effector
- membership functions
- parallel manipulator
- robotic arm
- fuzzy rules
- control algorithm
- control method
- pose estimation
- fuzzy logic controller
- trajectory tracking
- variable structure
- adaptive fuzzy
- fuzzy systems
- control strategy
- control law
- vision system
- operating conditions
- controller design
- robot manipulators
- robotic systems
- takagi sugeno
- dynamic model
- fuzzy model
- sliding mode
- neural network