Naslov
Performance Comparison of Different Control Algorithms for Robot Manipulators

Autori
Žilić, Tihomir ; Kasać, Josip ; Essert, Mario ; Novaković, Branko ; Šitum, Željko

Izvornik
Strojarstvo (0562-1887) 54 (2012), 5; 399-407

Vrsta, podvrsta i kategorija rada
Radovi u časopisima, članak, znanstveni

Ključne riječi
upravljanje robotom; adaptivno upravljanje; neuronske mreže; neizrazito upravljanje; performanse regulacije
(robot control; adaptive control; neural networks; fuzzy control; control performances)

Sažetak
In this work are compared performances of five different robot control algorithms. The following controllers under consideration are: PD controller, PID controller, analytical fuzzy controller, classical adaptive controller and adaptive controller based on neural network. The mentioned controllers are used to control two different robot configurations with two rotational degrees of freedom (in horizontal and vertical plane). The basic performances for control algorithms comparisons are: tracking error, rate of convergence, robustness on structural changes of control object, complexity of stability criterion and complexity of implementation.

Izvorni jezik
Engleski

Znanstvena područja
Strojarstvo

POVEZANOST RADA