Pregled bibliografske jedinice broj: 1045658
Robust Fuzzy Control Method for a Robot Arm
Robust Fuzzy Control Method for a Robot Arm // Proceedings of the 3rd Scientific-Technical Conference with International Participation Process Control '98 / Krejči, Stanislav (ur.).
Pardubice: University of Pardubice, 1998. str. 231-234 (ostalo, međunarodna recenzija, cjeloviti rad (in extenso), znanstveni)
CROSBI ID: 1045658 Za ispravke kontaktirajte CROSBI podršku putem web obrasca
Naslov
Robust Fuzzy Control Method for a Robot Arm
Autori
Krajči, Vesna ; Jurišica, Ladislav
Vrsta, podvrsta i kategorija rada
Radovi u zbornicima skupova, cjeloviti rad (in extenso), znanstveni
Izvornik
Proceedings of the 3rd Scientific-Technical Conference with International Participation Process Control '98
/ Krejči, Stanislav - Pardubice : University of Pardubice, 1998, 231-234
ISBN
8071941395
Skup
The 3rd Scientific-Technical Conference with International Participation Process Control '98
Mjesto i datum
Loučná nad Desnou, Češka Republika, 07.06.1998. - 10.06.1998
Vrsta sudjelovanja
Ostalo
Vrsta recenzije
Međunarodna recenzija
Ključne riječi
robotics, robust fuzzy control, simulation
Sažetak
The paper deals with a simple fuzzy servo control of a three axis electric driven articulated planar robot arm. The same fuzzy algorithm is used in all servo control loops, but with a proper scaling of the fuzzy controller inputs and outputs. The proposed continuous path control method has been tested by computer simulations for different robot tool trajectories, i.e. straight-line, vertical, horizontal and circular trajectory. The results show robustness of the fuzzy robot control method which ensures accurate trajectory tracking in the presence of significant robot uncertainties, such as unpredictable robot parameter perturbation from the norm, external disturbances and noise.
Izvorni jezik
Engleski
Znanstvena područja
Matematika, Elektrotehnika, Računarstvo, Temeljne tehničke znanosti, Interdisciplinarne tehničke znanosti
