Final position and trajectory control of an object on a distributed manipulation system

Author

Elahidoost, Ali ; Keshmiri, Mehdi

Author_Institution

Dept. of Mech. Eng., Isfahan Univ. of Technol., Isfahan, Iran

fYear

2009

fDate

23-26 March 2009

Firstpage

1

Lastpage

6

Abstract

In this paper, the function of a fuzzy controller in motion control of an object on a distributed manipulation system is investigated practically by an experimental setup. The system consists of four wheels with fixed axis and an object that is carried on them. The angular velocity of the wheels is controlled by a fuzzy controller and the object motion is indeed controlled by the friction forces between the wheels and the object. The results of experimental tests are compared with that of numerical simulations of the system in SIMULINK. The good agreement between the results indicates the effectiveness of the designed controller in actual systems.

Keywords

fuzzy control; manipulator kinematics; motion control; position control; angular velocity; distributed manipulation system; friction force; fuzzy controller; numerical simulation; object motion control; position control; trajectory control; Angular velocity; Angular velocity control; Control systems; Force control; Friction; Fuzzy control; Fuzzy sets; Fuzzy systems; Motion control; Wheels;

fLanguage

English

Publisher

ieee

Conference_Titel

Mechatronics and its Applications, 2009. ISMA '09. 6th International Symposium on

Conference_Location

Sharjah

Print_ISBN

978-1-4244-3480-0

Electronic_ISBN

978-1-4244-3481-7

Type

conf

DOI

10.1109/ISMA.2009.5164826

Filename

5164826