DocumentCode
2359844
Title
Precise tracking control of robot manipulator using fuzzy logic
Author
Sumathi, P.
Author_Institution
Dept. of Instrumentation & Control Eng., St. Joseph´´s Coll. of Eng., Chennai, India
fYear
2005
fDate
10-12 July 2005
Firstpage
852
Lastpage
857
Abstract
This paper describes a fuzzy position control scheme designed for a three-link manipulator. The proposed control scheme is based on nonlinear dynamic model derived using Lagrange-Euler formulation. This fuzzy controller controls the position of each link independently and provides compensation for gravity acting on the third link. Computer simulation results on three link robot manipulators are presented to show the results, which indicate good position tracking performance.
Keywords
fuzzy control; fuzzy logic; manipulators; nonlinear control systems; position control; tracking; Lagrange-Euler formulation; fuzzy logic; fuzzy position control; nonlinear dynamic model; precise tracking control; robot manipulator; three-link manipulator; Computer simulation; Fuzzy control; Fuzzy logic; Intelligent control; Lagrangian functions; Manipulator dynamics; Position control; Robot control; Robot kinematics; Sliding mode control;
fLanguage
English
Publisher
ieee
Conference_Titel
Mechatronics, 2005. ICM '05. IEEE International Conference on
Conference_Location
Taipei
Print_ISBN
0-7803-8998-0
Type
conf
DOI
10.1109/ICMECH.2005.1529373
Filename
1529373
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