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Adaptive fuzzy control of mechanical behavior for a two degree of freedom robotic manipulator
dc.creator | Petrović, Petar | |
dc.creator | Milačić, Vladimir | |
dc.date.accessioned | 2022-09-19T15:22:20Z | |
dc.date.available | 2022-09-19T15:22:20Z | |
dc.date.issued | 1998 | |
dc.identifier.issn | 0956-5515 | |
dc.identifier.uri | https://machinery.mas.bg.ac.rs/handle/123456789/166 | |
dc.description.abstract | Active compliance control of robotic manipulators is useful in making robots perform precision assembly operations. The essential requirement here is mechanical isotropy of the robot end-point. In this paper the problem of how to achieve this kind of mechanical behaviour is considered from aspects of impedance control and fuzzy set theory. The new fuzzy-impedance control law, which is suitable for real-time applications, is proposed for a two degree-of-freedom (2-d.o.f.) robotic manipulator. According to simulation results, the proposed control law can provide approximately isotropic behaviour of the robot end-point in the whole workspace. | en |
dc.publisher | Kluwer Academic Publ, Dordrecht | |
dc.rights | restrictedAccess | |
dc.source | Journal of Intelligent Manufacturing | |
dc.subject | mechanical isotropy | en |
dc.subject | manipulating robots | en |
dc.subject | impedance control | en |
dc.subject | fuzzy sets | en |
dc.title | Adaptive fuzzy control of mechanical behavior for a two degree of freedom robotic manipulator | en |
dc.type | article | |
dc.rights.license | ARR | |
dc.citation.epage | 375 | |
dc.citation.issue | 4 | |
dc.citation.other | 9(4): 369-375 | |
dc.citation.rank | M23 | |
dc.citation.spage | 369 | |
dc.citation.volume | 9 | |
dc.identifier.doi | 10.1023/A:1008987011755 | |
dc.identifier.scopus | 2-s2.0-2442609795 | |
dc.identifier.wos | 000076905000013 | |
dc.type.version | publishedVersion |