Hostname: page-component-cd9895bd7-dk4vv Total loading time: 0 Render date: 2024-12-25T05:20:44.027Z Has data issue: false hasContentIssue false
  • English
  • Français

An investigation of fuzzy logic control of flexible robots

Published online by Cambridge University Press:  09 March 2009

Yueh-Jaw Lin  and
Tian-Soon Lee
Yueh-Jaw Lin
Affiliation:
Department of Mechanical Engineering, The University of Akron, Akron, OH 44325 (USA)
Tian-Soon Lee
Affiliation:
Department of Mechanical Engineering, The University of Akron, Akron, OH 44325 (USA)
Get access Rights & Permissions [Opens in a new window]

Summary

In this paper a control law, which consists of a fuzzy logic controller plus a nonlinear effects negotiator for a flexible robot manipulator, is presented. The nonlinear effects negotiator is used to enhence the control system's ability in dealing with the uncertainty of the mathematical model. The control algorithm is simple and easy to tune as opposed to conventional control law which requires time consuming gains selections. To obtain fuzzy control rules, an error response plane method is proposed.

Keywords

Fuzzy logicRobot controlNonlinear effects.
Type
Research Article
Information
Robotica , Volume 11 , Issue 4 , July 1993 , pp. 363 - 372
Copyright
Copyright © Cambridge University Press 1993

Access options

Get access to the full version of this content by using one of the access options below. (Log in options will check for institutional or personal access. Content may require purchase if you do not have access.)

References

1.Uragami, M., Mizumoto, M. and Tanaka, K., “Fuzzy Robot Controls,” J. Cybernetics, 6, 39–64 (1976).CrossRefGoogle Scholar
2.Rosa, R.G. and Garcia-Alegre, M.C., “Fuzzy Logic Strategies to Control an Autonomous Mobile Robot” Cybernetics and Systems 21, 267–27 (1990).CrossRefGoogle Scholar
3.Wakileh, B.A.M. and Gill, K.F., “Use of Fuzzy Logic in robotics” Computers in Industry 10, 35–46 (1988).CrossRefGoogle Scholar
4.Palm, R., “Fuzzy Controller for a Sensor Guided Robot Manipulator” Fuzzy Sets and Systems 31, 133–149 (1989).CrossRefGoogle Scholar
5.Lim, CM. and Hiyama, T., “Application of Fuzzy Logic Control to a Manipulator” IEEE Transactions on Robotics and Automation 7, No. 5, 688–691 (1991).CrossRefGoogle Scholar
6.Lin, Y.J. and Lee, T.S., “Intelligent Control of Flexible Robot Manipulators Utilizing Fuzzy Logic” ASME Winter Annual Meeting, DSC 45, 85–91 (1992).Google Scholar
7.Timoshenko, S. and Lessells, J.M., “Applied Elasticity” Westinghouse Technical Night Press (East Pittsburgh, Pensylvania, 1925).Google Scholar
8.Lin, Y.J. and Lee, T.S., “Comprehensive Dynamic Modeling and Motion/Force Control of Flexible Manipulators” Mechatronics 2, No. 2, 129–148 (1992).CrossRefGoogle Scholar
9.Meirovitch, L., Analytical Methods in Vibrations (Macmillan Company, N.Y., 1967).Google Scholar
10.Sugeno, M., “An Introduction Survey of Fuzzy Control Information Science 36, 59–83 (1985).CrossRefGoogle Scholar