MANIPULATION
Lyapunov Stable Control of Robot Manipulators: A Fuzzy Self-Tuning Procedure
Rafael Kelly, Rodolfo E. Haber, Rodolfo E. Haber-Guerra, Fernando Reyes
- Year
- 1999
- Citations
- 40
Abstract
In this paper we present a fuzzy adaptation scheme for PD control with gravity compensation of robot manipulators. We demonstrate, by taking into account the full nonlinear and multivariable nature...
Keywords
Computer scienceRobot manipulatorFuzzy logicControl theory (sociology)Lyapunov functionRobotFuzzy control systemControl (management)Control engineeringArtificial intelligence
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