• Chapter 1
  • 1.1 Control of robots in contact tasks
  • 1.2 Classification of constraint motion
  • In recent years different control strategies have been proposed on the problem of controlling the compliant motion. Various cr
    • 1.2.1 Passive compliance
    • 1.2.2 Active compliance
      • 1.2.2.1 Hybrid position/force control
      • 1.2.2.2 Impedance control
  • 1.3 Objective of the study
  • 1.4 Organization of thesis
  • 1.5 Summary
• Chapter 2
  • 2.1 Introduction
  • 2.2 What is impedance control?
    • 2.2.1 Torque-based impedance control
    • 2.2.2 Position-based impedance control
  • 2.3 Impedance control and force tracking
  • 2.4 Review of impedance control and force tracking
  • 2.5 Summary
• Chapter 3
• The Electrical PUMA560 Robot
  • 3.1 Description of manipulator
  • 3.2 Kinematics of PUMA 560
  • where, .
  • 3.3 Dynamic model of PUMA 560
    • 3.3.1 Dynamic characteristic of PUMA 560
  • 3.4 PUMA 560 actuation system
  • 3.5 Simulation program
  • 3.6 Summary
• Chapter 4
• The Application of Position-Based Impedance Control to PUMA 560 Manipulator
  • 4.1 Introduction
  • 4.2 Position-Based Impedance Control structure
  • 4.3 Nonlinear PID position controller
    • 4.3.1 Applying conventional PID controllers
    • 4.3.2 Modified rate-varying integral
• Chapter 5
  • 5.1 Introduction
  • 5.2 Force tracking in impedance control
  • 5.3 Neuro-Fuzzy system
    • 5.3.1 Fuzzy system
    • 5.3.2 Neural Network
    • 5.3.3 Adaptive Network-based Fuzzy Inference System (ANFIS) architecture
      • 5.3.3.1 Basic learning rule
    • 5.3.4 Architecture of ANFIS
    • 5.3.5 Hybrid learning procedure for ANFIS
  • 5.4 Applying the ANFIS to the PBIC for the purpose of force tracking
  • 5.5 Comparison of the proposed method with the previous works
  • 5.6 Summary
• Chapter 6

...see more