• Chapter 1 (12)
  • 1.1 Control of robots in contact tasks (12)
  • 1.2 Classification of constraint motion (13)
  • In recent years different control strategies have been proposed on the problem of controlling the compliant motion. Various cr (13)
    • 1.2.1 Passive compliance (14)
    • 1.2.2 Active compliance (14)
      • 1.2.2.1 Hybrid position/force control (14)
      • 1.2.2.2 Impedance control (15)
  • 1.3 Objective of the study (20)
  • 1.4 Organization of thesis (21)
  • 1.5 Summary (21)
• Chapter 2 (22)
  • 2.1 Introduction (22)
  • 2.2 What is impedance control? (22)
    • 2.2.1 Torque-based impedance control (26)
    • 2.2.2 Position-based impedance control (27)
  • 2.3 Impedance control and force tracking (28)
  • 2.4 Review of impedance control and force tracking (29)
  • 2.5 Summary (33)
• Chapter 3 (34)
• The Electrical PUMA560 Robot (34)
  • 3.1 Description of manipulator (34)
  • 3.2 Kinematics of PUMA 560 (35)
  • where, . (40)
  • 3.3 Dynamic model of PUMA 560 (40)
    • 3.3.1 Dynamic characteristic of PUMA 560 (41)
  • 3.4 PUMA 560 actuation system (42)
  • 3.5 Simulation program (45)
  • 3.6 Summary (45)
• Chapter 4 (46)
• The Application of Position-Based Impedance Control to PUMA 560 Manipulator (46)
  • 4.1 Introduction (46)
  • 4.2 Position-Based Impedance Control structure (46)
  • 4.3 Nonlinear PID position controller (49)
    • 4.3.1 Applying conventional PID controllers (49)
    • 4.3.2 Modified rate-varying integral (52)
• Chapter 5 (63)
  • 5.1 Introduction (63)
  • 5.2 Force tracking in impedance control (63)
  • 5.3 Neuro-Fuzzy system (66)
    • 5.3.1 Fuzzy system (67)
    • 5.3.2 Neural Network (68)
    • 5.3.3 Adaptive Network-based Fuzzy Inference System (ANFIS) architecture (69)
      • 5.3.3.1 Basic learning rule (70)
    • 5.3.4 Architecture of ANFIS (72)
    • 5.3.5 Hybrid learning procedure for ANFIS (74)
  • 5.4 Applying the ANFIS to the PBIC for the purpose of force tracking (77)
  • 5.5 Comparison of the proposed method with the previous works (90)
  • 5.6 Summary (92)
• Chapter 6 (93)