Pregled bibliografske jedinice broj: 1045681
Fuzzy Servo Control of Articulated Robot Arm
Fuzzy Servo Control of Articulated Robot Arm // Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'94)
München, Njemačka: Institute of Electrical and Electronics Engineers (IEEE), 1994. str. 641-648 doi:10.1109/iros.1994.407364 (predavanje, međunarodna recenzija, cjeloviti rad (in extenso), znanstveni)
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Naslov
Fuzzy Servo Control of Articulated Robot Arm
(Fuzzy servo control of an articulated robot arm)
Autori
Kovačić, Zdenko ; Bogdan, Stjepan ; Laci, Vesna
Vrsta, podvrsta i kategorija rada
Radovi u zbornicima skupova, cjeloviti rad (in extenso), znanstveni
Izvornik
Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'94)
/ - : Institute of Electrical and Electronics Engineers (IEEE), 1994, 641-648
ISBN
0-7803-1933-8
Skup
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'94)
Mjesto i datum
München, Njemačka, 12.09.1994. - 16.09.1994
Vrsta sudjelovanja
Predavanje
Vrsta recenzije
Međunarodna recenzija
Ključne riječi
fuzzy logic, fuzzy control, manipulators, robot control
Sažetak
The paper deals with an application of fuzzy control in joint servo control of a five-axis electric driven articulated robot arm. 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 nonlinear character of the proposed fuzzy controller has provided for highly effective trajectory tracking. Trajectory tracking appears satisfactory also in the presence of external disturbances.
Izvorni jezik
Engleski
Znanstvena područja
Matematika, Elektrotehnika, Računarstvo, Temeljne tehničke znanosti, Interdisciplinarne tehničke znanosti
POVEZANOST RADA
Ustanove:
Fakultet elektrotehnike i računarstva, Zagreb
