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영어

This research describes the design and implementation of nonlinear control strategies for three dimensions joint dental robot manipulators whose dynamic or kinematic models are uncertain. This technique describes the development of an adaptive task-space tracking controller for dental robot manipulators with uncertainty in the kinematic and dynamic models. The controller is developed based on the unit quaternion representation so that singularities associated with the otherwise commonly used three parameter representations are avoided. This controller requires the assumption that the manipulator models are nonlinearly parameterizable. However there might be scenarios where the structure of the manipulator dynamic model itself is unknown due to difficulty in modeling. These manipulators do not have rigid joints, hence, they are difficult to model and this leads to significant challenges in developing high-performance control algorithms. In this research to eliminate the hand tremors, PID controller is used and to improve the performance and reduce the steady state error PI based PD fuzzy rule base controller is used.