Intelligent position/force controller for industrial robot manipulators - application of fuzzy neural networks

Kazuo Kiguchi, Toshio Fukuda

Research output: Contribution to journalArticlepeer-review

67 Citations (Scopus)

Abstract

An intelligent controller, which consists of an intelligent planner and an adaptive fuzzy neural position/force controller, is proposed for a robot manipulator. The proposed controller deals with the human expert knowledge and skills for planning and control. In this paper, it is applied to the task of deburring with an unknown object. The effectiveness of the proposed controller is evaluated by computer simulations.

Original languageEnglish
Pages (from-to)753-761
Number of pages9
JournalIEEE Transactions on Industrial Electronics
Volume44
Issue number6
DOIs
Publication statusPublished - Dec 1 1997
Externally publishedYes

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

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