@inproceedings{3c07e02b2e394bf3975c0637f5154b44,
title = "Fuzzy PD+I based Hybrid force/position control of an Industrial Robot Manipulator",
abstract = "A hybrid fuzzy PD+I (FPD+I) based force plus position controller with unspecified robot dynamics has been proposed for a robot manipulator under constrained environment. The FPD+I controller has been utilized as a principal controller to tune up orthodox PID gains throughout the complete trajectory tracking process. The validity of the proposed controller has been studied using a 6-Degree of Freedom (DOF) PUMA robot manipulator. Simulation results show that the projected hybrid FPD+I force/position controller adheres to the desired path closer and smoother.",
author = "Himanshu Chaudhary and Vikas Panwar and N. Sukavanum and Rajendra Prasad",
year = "2014",
doi = "10.3182/20140313-3-IN-3024.00062",
language = "English",
isbn = "9783902823601",
series = "IFAC Proceedings Volumes (IFAC-PapersOnline)",
publisher = "IFAC Secretariat",
number = "PART 1",
pages = "429--436",
booktitle = "3rd International Conference on Advances in Control and Optimization of Dynamical Systems, ACODS 2014 - Proceedings",
address = "Austria",
edition = "PART 1",
note = "3rd International Conference on Advances in Control and Optimization of Dynamical Systems, ACODS 2014 ; Conference date: 13-03-2014 Through 15-03-2014",
}