Robust adaptive neuro-fuzzy controller for hybrid position/force control of robot manipulators in contact with unknown environment

Abstract

In this paper, an adaptive control method for hybrid position/force control of robot manipulators, based on neuro-fuzzy modeling, is presented. Since the force control involves applying certain amount of force on the surface of an object, it is important to consider the friction force between the end-effector and the surface into account. In order to… (More)

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