Adaptive Fuzzy Finite-Time Command Filtered Impedance Control for Robotic Manipulators
نویسندگان
چکیده
In order to improve the security and compliance of physical human-robot interaction (pHRI), an adaptive fuzzy impedance control for robotic manipulators based on finite-time command filtered method is proposed in this paper. Firstly, robots usually encounter system uncertainties practical applications, introduced approximate uncertainties. Secondly, used performance system. Then, technique deal with “computational complexity ” traditional backstepping. Finally, simulations are conducted illustrate effectiveness interaction.
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ژورنال
عنوان ژورنال: IEEE Access
سال: 2021
ISSN: ['2169-3536']
DOI: https://doi.org/10.1109/access.2021.3069152