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A fuzzy adaptive admittance controller for force tracking in an uncertain contact environment
IET Control Theory & Applications
Traditional constant admittance controller (CAC) in uncertain contact environment is highly dependent on environmental location and stiffness, which are always difficult to obtain in most applications. To address this problem, a fuzzy adaptive admittance controller (FAAC) based on fuzzy inference rules is proposed in this paper. Firstly, an adaptive admittance controller (AAC) that can compensate for the admittance parameters in real time based on force error information is proposed. Secondly,doi:10.1049/cth2.12175 fatcat:kopjbovkjjauxdh6mgxeztwqa4