Pregled bibliografske jedinice broj: 1045628
Robustness of a Few Control Methods Used in Robotics
Robustness of a Few Control Methods Used in Robotics // IFAC Proceedings Volumes, IFAC Conference on Control Systems Design CSD 2000 / Kozák, Štefan ; Huba, Mikuláš (ur.).
Bratislava: Elsevier, 2000. str. 601-606 doi:10.1016/s1474-6670(17)37257-9 (poster, međunarodna recenzija, cjeloviti rad (in extenso), znanstveni)
CROSBI ID: 1045628 Za ispravke kontaktirajte CROSBI podršku putem web obrasca
Naslov
Robustness of a Few Control Methods Used in Robotics
Autori
Krajči, Vesna ; Jurišica, Ladislav
Vrsta, podvrsta i kategorija rada
Radovi u zbornicima skupova, cjeloviti rad (in extenso), znanstveni
Izvornik
IFAC Proceedings Volumes, IFAC Conference on Control Systems Design CSD 2000
/ Kozák, Štefan ; Huba, Mikuláš - Bratislava : Elsevier, 2000, 601-606
Skup
IFAC Conference on Control Systems Design CSD 2000
Mjesto i datum
Bratislava, Slovačka, 18.06.2000. - 20.06.2000
Vrsta sudjelovanja
Poster
Vrsta recenzije
Međunarodna recenzija
Ključne riječi
robotics, robustness, variable-structure control, robust control, fuzzy control, robot arm, computer simulation
Sažetak
The paper deals with proving of robustness for a few simple control methods often used in robotics. These methods are: two variants of variable-structure control, a control method with an auxiliary controller developed by Hsia (1989) and a fuzzy control. Robustness of the proposed continuous-path control methods is evaluated in the case of planar articulated robot moving along two common used trajectories: straight-line and circular. Computer simulations performed with load change, added external disturbance and white measurement noise proved satisfying robustness of all presented robot control methods.
Izvorni jezik
Engleski
Znanstvena područja
Matematika, Elektrotehnika, Računarstvo, Temeljne tehničke znanosti, Interdisciplinarne tehničke znanosti
