Robust Trajectory Tracking by Using Fuzzy Servo Control of an Articulated Robot Arm (CROSBI ID 687044)
Prilog sa skupa u zborniku | izvorni znanstveni rad | međunarodna recenzija
Podaci o odgovornosti
Kovačić, Zdenko ; Bogdan, Stjepan ; Laci, Vesna ; Krishnan, Ramu
engleski
Robust Trajectory Tracking by Using Fuzzy Servo Control of an Articulated Robot Arm
The paper deals with a robust trajectory tracking by using fuzzy joint servo control of a five axis electric-driven articulated robot arm with tool pitch and roll motions. Trajectory planning ensures accurate approximation of the desired path and includes limits of the velocities and accelerations of each robot joint. The same fuzzy control algorithm is used in all joint servo loops, requiring only multiplexing and proper scaling of the fuzzy controller inputs and outputs. The comparative simulation experiments were also performed with a PD and a robust controller in the presence of white measurement noise, load change and nonlinear effects of robot dynamics. The results obtained have confirmed a very good performance and fairly robust trajectory tracking in case of using a fuzzy control method.
Fuzzy control, industrial robots, robust control
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Podaci o prilogu
55-60.
1994.
objavljeno
10.1016/s1474-6670(17)46084-8
Podaci o matičnoj publikaciji
Proceedings of the 2nd IFAC Symposium on Intelligent Components and Instruments for Control Applications SISICA ’94
Elsevier
1474-6670
Podaci o skupu
2nd IFAC Symposium on Intelligent Components and Instruments for Control Applications SISICA ’94
predavanje
08.06.1994-10.06.1994
Budimpešta, Mađarska
Povezanost rada
Elektrotehnika, Interdisciplinarne tehničke znanosti, Matematika, Računarstvo, Temeljne tehničke znanosti