Object
Title: Fuzzy control of robotic manipulators
Contributor:
Korbicz, Józef (1951- ) - red. ; Uciński, Dariusz - red.
Group publication title:
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.
Publisher:
Zielona Góra: Uniwersytet Zielonogórski
Resource Identifier:
Pages:
Source:
AMCS, volume 7, number 3 (1997) ; click here to follow the link
Language:
Rights:
Biblioteka Uniwersytetu Zielonogórskiego
Object collections:
- Digital Library of Zielona Góra > Repository > Faculties > Faculty of Computer, Electrical and Control Engineering
- Digital Library of Zielona Góra > Repository > Types of work > Articles
- Digital Library of Zielona Góra > Repository > Scientific journals and UZ publishing series > International Journal of Applied Mathematics and Computer Science (AMCS)
- Digital Library of Zielona Góra > Repository > Scientific journals and UZ publishing series > International Journal of Applied Mathematics and Computer Science (AMCS) > International Journal of Applied Mathematics and Computer Science (AMCS) (1997)
Last modified:
Nov 5, 2024
In our library since:
Nov 23, 2020
Number of object content hits:
78
All available object's versions:
https://zbc.uz.zgora.pl/publication/64516
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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 26 (2016)
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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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International Journal of Applied Mathematics and Computer Science (AMCS), volume 21 (2011)
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International Journal of Applied Mathematics and Computer Science (AMCS), volume 20 (2010)
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International Journal of Applied Mathematics and Computer Science (AMCS), volume 19 (2009)
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International Journal of Applied Mathematics and Computer Science (AMCS), volume 18 (2008)
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International Journal of Applied Mathematics and Computer Science (AMCS), volume 17 (2007)
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International Journal of Applied Mathematics and Computer Science (AMCS), volume 16 (2006)
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International Journal of Applied Mathematics and Computer Science (AMCS), volume 15 (2005)
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International Journal of Applied Mathematics and Computer Science (AMCS), volume 13 (2003)
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International Journal of Applied Mathematics and Computer Science (AMCS), volume 12 (2002)
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International Journal of Applied Mathematics and Computer Science (AMCS), volume 11 (2001)
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International Journal of Applied Mathematics and Computer Science (AMCS), volume 10 (2000)
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International Journal of Applied Mathematics and Computer Science (AMCS), volume 9 (1999)
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International Journal of Applied Mathematics and Computer Science (AMCS), volume 8 (1998)
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International Journal of Applied Mathematics and Computer Science (AMCS), volume 7 (1997)
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International Journal of Applied Mathematics and Computer Science (AMCS), volume 7, number 1 (1997)
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International Journal of Applied Mathematics and Computer Science (AMCS), volume 7, number 2 (1997)
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International Journal of Applied Mathematics and Computer Science (AMCS), volume 7, number 3 (1997)
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International Journal of Applied Mathematics and Computer Science (AMCS), volume 7, number 4 (1997)
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International Journal of Applied Mathematics and Computer Science (AMCS), volume 7, number 1 (1997)
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International Journal of Applied Mathematics and Computer Science (AMCS), volume 6 (1996)
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International Journal of Applied Mathematics and Computer Science (AMCS), volume 5 (1995)
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International Journal of Applied Mathematics and Computer Science (AMCS), volume 4 (1994)
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International Journal of Applied Mathematics and Computer Science (AMCS), volume 3 (1993)
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International Journal of Applied Mathematics and Computer Science (AMCS), volume 2 (1992)
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International Journal of Applied Mathematics and Computer Science (AMCS),volume 1 (1991)
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International Journal of Applied Mathematics and Computer Science (AMCS), volume 26 (2016)
| Edition name | Date |
|---|---|
| Fuzzy control of robotic manipulators | Nov 5, 2024 |
