Optimal Fuzzy Impedance Control for a Robot Gripper Using Gradient Descent Iterative Learning Control in Fuzzy Rule Base Design
This paper proposes a novel control approach for a robot gripper in which the impedance control, fuzzy logic control, and iterative learning control are combined in the same control schema. The impedance control is used to keep the gripping force at the desired value. The fuzzy impedance controller...
| Main Authors: | , |
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| Format: | Article |
| Language: | English |
| Published: |
MDPI AG
2020-05-01
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| Series: | Applied Sciences |
| Subjects: | |
| Online Access: | https://www.mdpi.com/2076-3417/10/11/3821 |