Obiekt
Tytuł: Fuzzy control of robotic manipulators
Współtwórca:
Korbicz, Józef (1951- ) - red. ; Uciński, Dariusz - red.
Tytuł publikacji grupowej:
Abstract:
This paper presents an Intelligent Control Strategy for an n-degree-of-freedom (d.o.f.) robotic manipulator. It covers the design and simulation study of a Fuzzy Controller (FC) for the robotic manipulator with a view of tracking a predetermined trajectory of motion in the joint space. An industrial robotic manipulator, Adept One Robot, was used to evaluate the effectiveness of the proposed scheme. ; The Adept One Robot was simulated as a three-axis manipulator with the dynamics of the tool (fourth link) neglected and the mass of the load incorporated into the mass of the third link. The overall performance of the control system under various conditions, namely variation in payload, variations in coefficients of static, dynamic and viscous friction and various trajectories were studied and a comparison was made with the Neural Network Controller (NNC) of (Er, 1996) and Computed Torque Controllers 1 and 2 of (Craig, 1989) which are designed assuming full knowledge and partial knowledge of the robot dynamics, respectively. The FC was shown to be robust and able to overcome the drawbacks of the NNC and the two computed torque controllers.
Wydawca:
Zielona Góra: Uniwersytet Zielonogórski
Identyfikator zasobu:
Strony:
Źródło:
AMCS, volume 7, number 3 (1997) ; kliknij tutaj, żeby przejść
Jezyk:
Prawa do dysponowania publikacją:
Biblioteka Uniwersytetu Zielonogórskiego
Kolekcje, do których przypisany jest obiekt:
- Zielonogórska Biblioteka Cyfrowa > Repozytorium > Jednostki organizacyjne > Wydział Informatyki, Elektrotechniki i Automatyki
- Zielonogórska Biblioteka Cyfrowa > Repozytorium > Typy utworów > Artykuły
- Zielonogórska Biblioteka Cyfrowa > Repozytorium > Czasopisma naukowe i serie wydawnicze UZ > International Journal of Applied Mathematics and Computer Science (AMCS)
- Zielonogórska Biblioteka Cyfrowa > Repozytorium > Czasopisma naukowe i serie wydawnicze UZ > International Journal of Applied Mathematics and Computer Science (AMCS) > International Journal of Applied Mathematics and Computer Science (AMCS) (1997)
Data ostatniej modyfikacji:
2024-11-05
Data dodania obiektu:
2020-11-23
Liczba wyświetleń treści obiektu:
78
Wszystkie dostępne wersje tego obiektu:
https://zbc.uz.zgora.pl/publication/64516
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Wyświetl opis w formacie OAI-PMH:
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International Journal of Applied Mathematics and Computer Science (AMCS)
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International Journal of Applied Mathematics and Computer Science (AMCS), volume 25 (2015)
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International Journal of Applied Mathematics and Computer Science (AMCS), volume 24 (2014)
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International Journal of Applied Mathematics and Computer Science (AMCS), volume 23 (2013)
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International Journal of Applied Mathematics and Computer Science (AMCS), volume 22 (2012)
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| Nazwa wydania | Data |
|---|---|
| Fuzzy control of robotic manipulators | 2024-11-05 |
