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- W4241272914 abstract "The paper presents a new approach to optimal design of fuzzy controllers for robotics, under consideration of nonlinearities like friction. As a first model a linear robotic mechanism is controlled by position- and force control. The system’s friction is evaluated and modelled in the software tool called ‘Ilmenauer Fuzzy Tool’. This software package allows the optimization of the controller using performance criterions after the definition of the fuzzy- controller’s parameters. During the optimization process a test of the system’s stability is possible. The speciality of the used software tool lies in the fact, that it influences the geometrical form of the membership functions by shifting the lattice points that define them." @default.
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- W4241272914 date "1994-09-01" @default.
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- W4241272914 title "Optimal fuzzy control design for robotics" @default.
- W4241272914 doi "https://doi.org/10.1016/s1474-6670(17)47425-8" @default.
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