Model-based fuzzy PID control of constrained robot in a dynamic environment with uncertainty

• Main Author: Li, Yimin.
• Other Authors: Ho, Yheong Khing
• Format: Theses and Dissertations
• Published: 2008
• Subjects: DRNTU::Engineering::Electrical and electronic engineering::Control and instrumentation::Robotics
• Online Access: http://hdl.handle.net/10356/4778
• Institution: Nanyang Technological University

This thesis presents a model-based fuzzy tuning PID method for the force/position control of a robot manipulator. The interaction relationship between the robot and the environment is modeled for hybrid control scheme. The model is based on the kinematic and dynamic descriptions because in many robo...