A robust adaptive fuzzy position/force control scheme for cooperative manipulators.
Wail GueaiebFakhri KarraySalah Al-SharhanPublished in: IEEE Trans. Control. Syst. Technol. (2003)
Keyphrases
- control scheme
- position control
- fuzzy controller
- cooperative
- control law
- closed loop
- robotic manipulator
- sliding mode
- control strategy
- control system
- dynamic model
- pi control
- pi controller
- end effector
- force control
- robot manipulators
- variable structure
- predictive control
- controller design
- fuzzy logic
- fuzzy sets
- adaptive control
- pid controller
- nonlinear systems
- fuzzy logic controller
- human arm
- fuzzy control
- control loop
- degrees of freedom
- fuzzy rules
- adaptive fuzzy
- control strategies
- fuzzy neural network
- robot arm
- membership functions
- visual servoing
- neural network controller
- induction motor
- control algorithm
- external disturbances
- fuzzy clustering
- pid control
- feedback control
- control method
- robotic systems
- experimental data
- motion planning
- path planning