Intelligent position/force control of robot manipulators using Fuzzy-neuro

摘要

Hybrid position/force control is one of the most effective methods to control the position and force of robot manipulators accurately. In most research into the hybrid position/force control it is assumed that the property and shape of the environment is previously known. In this paper, we propose a fuzzy environment evaluator and the concept of a fuzzy vector which can be used to make the fuzzy-neuro position/force controller intelligent.