Fuzzy Model Based Environmental Stiffness Identification in Stable Force Control of a Robot Manipulator.
Chang-Woo ParkJongbae LeeMinkee ParkMignon ParkPublished in: MDAI (2005)
Keyphrases
- force control
- robot manipulators
- impedance control
- position control
- fuzzy neural network
- control of robot manipulators
- inverse kinematics
- control scheme
- fuzzy sets
- dynamic model
- end effector
- fuzzy rules
- fuzzy logic
- membership functions
- closed loop
- contact force
- control strategy
- fuzzy systems
- fuzzy clustering
- pid controller
- neural network
- fuzzy controller
- fuzzy numbers
- finite element model
- finite element
- mobile robot