Title :
Fuzzy control used in robotic arm position control
Author :
Nianzu, Zhang ; Uhui, Zhu R. ; Maoji, Fan
Author_Institution :
Dept. of Autom. Control, Jiao Tong Univ., Shanghai, China
Abstract :
Fuzzy control used in robotic arm position control is described in this paper. By the using of fuzzy control, the difficulty for control because of nonlinear factors, such as dead zone, resistant torques not equal in positive and negative directions, is overcome. With adopting the self regulating factor, accuracy position control is obtained and overshoot is controlled effectively. At last the experimental results are presented in this paper
Keywords :
control nonlinearities; fuzzy control; robots; dead zone; fuzzy control; nonlinear factors; overshoot control; position control; resistant torques; robotic arm position control; self-regulating factor; Automatic control; Control systems; DC motors; Fuzzy control; Position control; Robot sensing systems; Robotics and automation; Space vector pulse width modulation; Three-term control; Torque control;
Conference_Titel :
Fuzzy Systems, 1994. IEEE World Congress on Computational Intelligence., Proceedings of the Third IEEE Conference on
Conference_Location :
Orlando, FL
Print_ISBN :
0-7803-1896-X
DOI :
10.1109/FUZZY.1994.343914
