Abstract

This paper describes position and force hybrid control for a robot manipulator with artificial rubber muscle actuators. The controller using two control laws such as PID control and fuzzy logic control methods is designed. This paper concludes to show the effectiveness of the proposed controller by some experiments for a two-link manipulator.

Keywords

• Hybrid control;
• PID control;
• Fuzzy logic control;
• Robot Manipulator;
• Artificial rubber muscle

• 복합제어;
• PID 제어;
• 퍼지논리제어;
• 로보트 매니퓨레이터;
• 인공고무근육;