Fuzzy control of direct drive manipulators
Erbatur, Kemalettin (2015) Fuzzy control of direct drive manipulators. In: Yu, Xinghuo and Efe, Mehmet Önder, (eds.) Recent Advances in Sliding Modes: From Control to Intelligent Mechatronics. Studies in Systems, Decision and Control, 24. Springer, Switzerland, pp. 371-401. ISBN 978-3-319-18289-6 (Print) 978-3-319-18290-2 (Online)
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Official URL: http://dx.doi.org/10.1007/978-3-319-18290-2_18
Direct drive motors, sometimes referred to a torque motors are speciality servo actuators which posess high torque capacity without the necessity of gears. The author worked on a number of direct drive robots and their control methods since early 1990s when Professor Okyay Kaynak taught him fundamentals of fuzzy control and gave him the opportunity of experimental work on direct drive robotics. This chapter presents samples of the studies of the author on indirect fuzzy control implemented on direct drive robots between 1993 and 2012. The role of on-line controller parameter adaptation for sliding mode trajectory controllers, force controllers and for the integration of visual servoing and force control is discussed with case studies.
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