Intelligent active force control of a three-link manipulator using fuzzy logic
The paper presents a novel approach to estimate the inertia matrix of a robot arm using a fuzzy logic (FL) mechanism in order to trigger the active force control (AFC) strategy. A comprehensive study is performed on a rigid three-link manipulator subjected to a number of external disturbances. The r...
| Main Authors: | , |
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| Format: | Article |
| Language: | English |
| Published: |
Faculty of Mechanical Engineering
2003
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| Subjects: | |
| Online Access: | http://eprints.utm.my/7921/1/MusaMailah2003_IntelligentActiveForceControlof.pdf |