Fuzzy Position/Force Control of a Robot Leg with a Flexible Gear System.
Aiqiang YangHuat Kin LowWey FunPublished in: ICRA (2002)
Keyphrases
- neural network
- force control
- control strategy
- robot manipulators
- position control
- fuzzy neural network
- fuzzy logic
- robotic cell
- fuzzy controller
- fault diagnosis
- fuzzy systems
- end effector
- closed loop
- inverse kinematics
- fuzzy sets
- control scheme
- membership functions
- joint angles
- fuzzy numbers
- mathematical model
- control algorithm
- control method
- optimal control
- humanoid robot
- impedance control
- contact force
- control architecture
- fuzzy rules
- control law
- position and orientation
- control system
- fuzzy control
- vision system
- mobile robot
- nonlinear systems
- rbf neural network
- robotic systems
- fuzzy clustering
- robot moves