Abstract :
A
exible-joint robot manipulator is a complex system because it
is nonlinear, multivariable, highly coupled along with joint
exibility and un-
certainty. To overcome
exibility, several methods have been proposed based
on
exible model. This paper presents a novel method for controlling
exible-
joint robot manipulators. A novel control law is presented by compensating
exibility to form a rigid robot and then control methods for rigid robots
are applied. Feedback linearization and direct adaptive fuzzy control, based
on rigid model, are designed with torque control strategy. A decentralized
adaptive fuzzy controller is designed because of simplicity and ease of imple-
mentation. Eectiveness of the proposed control approach is demonstrated
by simulations, using a three-joint articulated
exible-joint robot, driven by
permanent magnet dc motors.
Keywords :
Fuzzy logic , Fuzzy set , Interior system , Interior operator
