Title :
A fuzzy control strategy for a flexible single link robot
Author :
Kubica, Eric ; Wang, David
Author_Institution :
Dept. of Electr. & Comput. Eng., Waterloo Univ., Ont., Canada
Abstract :
A fuzzy control strategy is described which is utilized to control the rigid body and the first flexural mode of vibration in a single link robotic arm. Both simulated and experimental results are presented and show that the rigid and flexible modes can be adequately controlled with the proposed technique. The results are shown to provide some improvement over those obtained by more conventional means
Keywords :
fuzzy control; robots; vibration control; flexible single link robot; flexural mode; fuzzy control; rigid body; vibration control; Automatic control; Computational modeling; Control system synthesis; Control systems; Fuzzy control; Fuzzy logic; Humans; Lighting control; Robots; Vibration control;
Conference_Titel :
Robotics and Automation, 1993. Proceedings., 1993 IEEE International Conference on
Conference_Location :
Atlanta, GA
Print_ISBN :
0-8186-3450-2
DOI :
10.1109/ROBOT.1993.292152
