Fuzzy impedance control based on a built-in torque sensor in harmonic drive gear.
Xiaowei TanYong JiangYifeng SongGuowei LiuZhengguo ZhuPublished in: ROBIO (2017)
Keyphrases
- impedance control
- force control
- contact force
- position control
- fuzzy sets
- sensor data
- fuzzy logic
- membership functions
- real time
- sensor networks
- fuzzy rules
- control strategy
- control algorithm
- fuzzy neural network
- fuzzy systems
- fuzzy numbers
- fuzzy controller
- fuzzy clustering
- control scheme
- optimal control
- induction motor
- robot manipulators
- manipulation tasks
- multi modal
- particle swarm optimization
- neural network