Abstract
In this paper, a feedforward compensation method is proposed to control a joint equilibrium position. Human hand is dexterous due to the voluntary and reflex. Voluntary and reflex have different control period. The former is relatively slow, and the latter is relatively fast. Thus, a feedforward compensation is used to imitate the voluntary control, and a fuzzy logic controller (FLC) is used to imitate the reflex control. The proposed control method is applied to control a joint. The simulation results demonstrate the effectiveness of the proposed control method.
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© 2012 Springer-Verlag Berlin Heidelberg
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Duan, XG., Zhang, Y., Deng, H., Yang, HZ. (2012). A Feedforward Compensation Method for Control of Join Equilibrium Position. In: Su, CY., Rakheja, S., Liu, H. (eds) Intelligent Robotics and Applications. ICIRA 2012. Lecture Notes in Computer Science(), vol 7506. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-33509-9_54
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DOI: https://doi.org/10.1007/978-3-642-33509-9_54
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-642-33508-2
Online ISBN: 978-3-642-33509-9
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