The following information was submitted:
Transactions: WSEAS TRANSACTIONS ON SYSTEMS AND CONTROL
Transactions ID Number: 27-604
Full Name: Mohammed Tarbouchi
Position: Associate Professor
Age: ON
Sex: Male
Address: Electrical and Computer Engineering, Royal Military College of Canada, Kingston, Ontario
Country: CANADA
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E-mail address: tarbouchi-m@rmc.ca
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Title of the Paper: Impedance Control of a Manipulator using a Fuzzy Model Reference Learning Controller
Authors as they appear in the Paper: M.Tarbouchi, M. STrawson, H.Benabdallah
Email addresses of all the authors: tarbouchi-m@rmc.ca, strawson-m@rmc.ca, benabdallah-h@rmc.ca
Number of paper pages: 10
Abstract: The aim of this paper is to present a position based impedance control scheme using a Fuzzy Model Reference Learning Controller (FMRLC). In the proposed control scheme, the static relationship between displacement and force is quantified through a desired stiffness. The desired dynamic behaviour of the system is quantified through the use of a reference model. Through ensuring that the closed loop behaviour of the system is the same as the behaviour of the reference model, the dynamic relationship between motion and force can be regulated. When properly developed, the FMRLC has the ability to improve performance during repetitive tasks by learning through continued interaction with its environment in order to maintain desired and predictable behaviour.
Keywords: – Fuzzy Control, Impedance control, Manipulator
EXTENSION of the file: .doc
Special (Invited) Session: Impedance Control of a Manipulator using a Fuzzy Model Reference Learning Controller
Organizer of the Session: 587-244
How Did you learn about congress: wgueaieb@site.uOttawa.ca, mohamed.ibnkahla@queensu.ca
IP ADDRESS: 137.94.177.45
