Abstract
The paper presents methods of improving the hybrid force-position dynamic robot control using fuzzy logic for the error control. The implementation of the open architecture control system for robots using fuzzy application allows for the control of the hybrid position and force in Cartesian coordinates through real time processing of the Jacobean matrix obtained out of forward kinematics using the Denevit-Hartenberg method and calculating the Jacobean inverted matrix for control in closed loop. The effectiveness of various fuzzy control structures in controlling the force-position of the robot or mechatronics actuators is presented.
Sign-in/Register to access full text options 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
