In this paper we present a motion control scheme based on a gain scheduling fuzzy self-
tuning structure for robot manipulators. We demonstrate, by taking into account the full non …

This paper concerns the problem of output feedback tracking (OFT) control with bounded
torque inputs of robot manipulators, and proposes a novel saturated OFT controller based …

The stability and robustness analysis of PD-plus-feedforward controllers comprised of a
nonlinear gain PD feedback controller and a nominal manipulator dynamics feedforward …

Considering the problem of ordinary PID controller does not regulate the parameters on-line,
a kind of fuzzy adaptive PD control algorithm is presented, which is applied successfully into …

Owing to the relative difficulty in achieving contour tracking on 3D objects, this study
presents a novel compliant motion controller by applying the self-tuning fuzzy control to have …

This paper deals with applications of fuzzy logic systems to motion control of robot
manipulators. In the proposed application, the fuzzy logic system plays the role of a tuner of …

In this study we consider the control of a three link planar robot manipulator. Specifically we
use PD, PID and fuzzy type controllers. We then illustrate how PD, PID controllers can be …

In this dissertation, path planning and trajectory optimization are performed using newly
developed methodologies and results are compared with existing state-of-the-art …

For the application of tracking the path on workpieces, the CCD (Charge Couple Device)
identificating system is generally used as one of the popular resolutions. However, the …

This chapter deals with the design of a Fuzzy Logic Controller based Optimal Linear
Quadratic Regulator (FC-LQR) for the control of a robotic system. The main idea is to design …