DocumentCode
2592583
Title
A robust trajectory tracking control of industrial robot manipulators using fuzzy logic
Author
Ghalia, M.B. ; Alouani, Ali T.
Author_Institution
Center for Manuf. Res. & Technol. Utilization, Tennessee Technol. Univ., Cookeville, TN, USA
fYear
1995
fDate
12-14 Mar 1995
Firstpage
268
Lastpage
271
Abstract
The paper proposes the design of a controller for trajectory tracking of robot manipulators using fuzzy logic. The proposed controller is based on an integration of conventional control and fuzzy logic. To illustrate its performance, the proposed controller is applied to the trajectory tracking of a two degree of freedom robot arm. Computer simulations show good properties of the proposed controller
Keywords
fuzzy control; industrial manipulators; intelligent control; path planning; position control; tracking; controller design; conventional control; fuzzy logic control; industrial robot manipulators; robust trajectory tracking control; two degree of freedom robot arm; Automatic control; Control systems; Fuzzy logic; Industrial control; Manipulator dynamics; Robot control; Robust control; Service robots; Torque control; Trajectory;
fLanguage
English
Publisher
ieee
Conference_Titel
System Theory, 1995., Proceedings of the Twenty-Seventh Southeastern Symposium on
Conference_Location
Starkville, MS
ISSN
0094-2898
Print_ISBN
0-8186-6985-3
Type
conf
DOI
10.1109/SSST.1995.390571
Filename
390571
Link To Document