@inproceedings{8d4756abcbca414ca3df5ccb595b7a53,
title = "Fuzzy model based environmental stiffness identification in stable force control of a robot manipulator",
abstract = "In this paper, we propose a new force control method in contact tasks using a fuzzy model. The contact force that is exerted on the environment by the link is some general function of the displacement, and not necessarily linear. First, a new identification method of a fuzzy model is proposed and then a nonlinear function of contact force is modeled by a proposed identification algorithm of a fuzzy model. The system stability for the proposed force control method is proved theoretically using a Lyapunov direct method. Finally it is shown that the proposed method is useful for the force control of manipulator by simulation.",
author = "Park, \{Chang Woo\} and Jongbae Lee and Minkee Park and Mignon Park",
year = "2005",
doi = "10.1007/11526018\_24",
language = "English",
isbn = "3540278710",
series = "Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)",
publisher = "Springer Verlag",
pages = "240--251",
booktitle = "Modeling Decisions for Artificial Intelligence - Second International Conference, MDAI 2005, Proceedings",
note = "2nd International Conference on Modeling Decisions for Artificial Intelligence, MDAI 2005 ; Conference date: 25-07-2005 Through 27-07-2005",
}