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Neuro-Fuzzy Hybrid Position/Force Control for a Space Robot with Flexible Dual-Arms

  • Fuchun Sun
  • Hao Zhang
  • Hao Wu
Part of the Lecture Notes in Computer Science book series (LNCS, volume 3174)

Abstract

A neuro-fuzzy (NF) hybrid position/force control with vibration suppression is developed in this paper for a space robot with flexible dual-arms handling a rigid object. An impedance force control algorithm is derived using force decomposition, and then singular perturbation method is used to construct the composite control, where an adaptive NF inference system is employed to approximate the inverse dynamics of the space robot. Finally, an example is employed to illustrate the validity of the proposed control scheme.

Keywords

Fuzzy Inference System ANFIS Model Flexible Manipulator Rigid Object Space Robot 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.

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Copyright information

© Springer-Verlag Berlin Heidelberg 2004

Authors and Affiliations

  • Fuchun Sun
    • 1
  • Hao Zhang
    • 1
  • Hao Wu
    • 1
  1. 1.Department of Computer Science and Technology, State Key Lab of Intelligent Technology and SystemsTsinghua UniversityBeijingP.R. China

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