Indirect adaptive fuzzy control for industrial robots: A solution for contact applications

作者：

Highlights：

• It is proposed a systematic methodology to design adaptive fuzzy controllers.

• Robust control was achieved in robotic contact tasks.

• Knowledge about the plant improves control performance.

• Asymptotic convergence and stability are guaranteed by the hybrid controller.

摘要

•It is proposed a systematic methodology to design adaptive fuzzy controllers.•Robust control was achieved in robotic contact tasks.•Knowledge about the plant improves control performance.•Asymptotic convergence and stability are guaranteed by the hybrid controller.

论文关键词：Adaptive fuzzy control,Hybrid force/motion control,Robot contact,Robotics

论文评审过程：Received 27 October 2014, Revised 20 July 2015, Accepted 22 July 2015, Available online 28 July 2015, Version of Record 29 August 2015.

论文官网地址：https://doi.org/10.1016/j.eswa.2015.07.047