This paper presents an effective force control method in which a fuzzy-neuro force controller is automatically adjusted in accordance with the unknown dynamics of an environment using a neural network. The adjustment strategy of the fuzzy-neural force controller, according to the environment dynamics, is automatically generated by the neural network in off-line manner using genetic algorithms with fuzzy evaluation. The effectiveness of the proposed force controller is evaluated by computer simulation with a 3-DOF planar robot manipulator model.
|Title of host publication||IECON Proceedings (Industrial Electronics Conference)|
|Publisher||IEEE Computer Society|
|Number of pages||6|
|Publication status||Published - 2000|
All Science Journal Classification (ASJC) codes
- Control and Systems Engineering
- Electrical and Electronic Engineering