Naslov
Robust Trajectory Tracking by Using Fuzzy Servo Control of an Articulated Robot Arm

Autori
Kovačić, Zdenko ; Bogdan, Stjepan ; Laci, Vesna ; Krishnam, Ramu

Vrsta, podvrsta i kategorija rada
Radovi u zbornicima skupova, cjeloviti rad (in extenso), ostalo

Izvornik
Preprints of the 2nd IFAC Symposium on Intelligent Components and Instruments for Control Applications SICICA '94 / - Budimpešta : International Federation of Automatic Control (IFAC), 1994, 60-65

Skup
2nd IFAC Symposium on Intelligent Components and Instruments for Control Applications SICICA '94

Mjesto i datum
Budimpešta, Mađarska, 12.09.1994. - 16.09.1994

Vrsta sudjelovanja
Predavanje

Vrsta recenzije
Međunarodna recenzija

Ključne riječi
fuzzy control, trajectory tracking, articulated robot arm

Sažetak
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.

Izvorni jezik
Engleski

Znanstvena područja
Elektrotehnika, Temeljne tehničke znanosti

POVEZANOST RADA