Study of Intelligent Impedance Control Using a Fuzzy Neural Network

Yoshishige Sato


             This paper presents study of adaptive force control that takes into account object characteristics using a fuzzy neural network. This study applies fuzzy theory to position control and force control, similar to those actually implemented by industrial robots, to enable automatic establishment of optimum parameters for different environments and autonomous, flexible motion.


adaptive force control, fuzzy neural network, Intelligent impedance control

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