NDLI: Robot manipulator control with soft computing - application of adaptive friction models

Content Provider	IEEE Xplore Digital Library
Author	Kiguchi, K. Fukuda, T.
Copyright Year	1999
Description	Author affiliation: Dept. of Adv. Syst. Control Eng., Saga Univ., Japan (Kiguchi, K.)
Abstract	The resolved acceleration control method is one of the most effective and fundamental control methods for robot manipulators. However, friction of each joint of a manipulator impedes control accuracy. Therefore, friction has to be effectively compensated for in order to realize precise control of robot manipulators. Recently, soft computing, such as fuzzy reasoning, neural networks, and genetic algorithms, have been playing an important role in the control of robots. Applying soft computing, learning/adaptation ability and human knowledge can be incorporated into a robot controller. In this paper, we propose an effective robot manipulator fuzzy-neuro control method based on the resolved acceleration control method in which joint friction is effectively compensated for using adaptive friction models.
Starting Page	656
Ending Page	661
File Size	327642
Page Count	6
File Format	PDF
ISBN	0780354060
ISSN	10987584
DOI	10.1109/FUZZY.1999.793021
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	1999-08-22
Publisher Place	South Korea
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Manipulators Robot control Computer applications Friction Acceleration Impedance Computer networks Fuzzy reasoning Neural networks Genetic algorithms
Content Type	Text
Resource Type	Article
Subject	Applied Mathematics Artificial Intelligence Theoretical Computer Science Software

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