Pregled bibliografske jedinice broj: 1045695
Robust Trajectory Tracking by Using Fuzzy Servo Control of Articulated Robot Arm
Robust Trajectory Tracking by Using Fuzzy Servo Control of Articulated Robot Arm // Proceedings of the 2nd IFAC Symposium on Intelligent Components and Instruments for Control Applications SISICA ’94
Budimpešta, Mađarska: Elsevier, 1994. str. 55-60 doi:10.1016/s1474-6670(17)46084-8 (predavanje, međunarodna recenzija, cjeloviti rad (in extenso), znanstveni)
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Naslov
Robust Trajectory Tracking by Using Fuzzy Servo Control of Articulated Robot Arm
(Robust Trajectory Tracking by Using Fuzzy Servo Control of an Articulated Robot Arm)
Autori
Kovačić, Zdenko ; Bogdan, Stjepan ; Laci, Vesna ; Krishnan, Ramu
Vrsta, podvrsta i kategorija rada
Radovi u zbornicima skupova, cjeloviti rad (in extenso), znanstveni
Izvornik
Proceedings of the 2nd IFAC Symposium on Intelligent Components and Instruments for Control Applications SISICA ’94
/ - : Elsevier, 1994, 55-60
Skup
2nd IFAC Symposium on Intelligent Components and Instruments for Control Applications SISICA ’94
Mjesto i datum
Budimpešta, Mađarska, 08.06.1994. - 10.06.1994
Vrsta sudjelovanja
Predavanje
Vrsta recenzije
Međunarodna recenzija
Ključne riječi
Fuzzy control, industrial robots, robust control
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
Matematika, Elektrotehnika, Računarstvo, Temeljne tehničke znanosti, Interdisciplinarne tehničke znanosti
