Output feedback tracking control of robot manipulators with model uncertainty via adaptive fuzzy logic.

Many robot controllers require not only joint position measurements but also joint velocity measurements; however, most robotic systems are only equipped with joint position measurement devices. In this paper, a new output feedback tracking control approach is developed for the robot manipulators wi...

Full description

Bibliographic Details

Published in:	IEEE Transactions on fuzzy systems 12, 3 (2004).
Main Author:	Euntai Kim
Format:	Article
Language:	English
Subjects:	Adaptive fuzzy logic. Fuzzy system. Output feedback tracking control. Position measurement. Position tracking. Robot controllers. Robot dynamics. Robot manipulators. Velocity measurement.