A study of fuzzy schemes for control of robotic manipulators

Author

Erbatur, Kemalettin ; Kaynak, Okyay ; Rudas, Imre

Author_Institution

Dept. of CAD/CAM-Robotics, TUBITAK Marmara Res. Center, Gebze, Turkey

Volume

1

fYear

1995

fDate

6-10 Nov 1995

Firstpage

63

Abstract

Fuzzy control of robotic manipulators has found vast interest among researchers. This work studies four kinds of control with fuzzy ideas: straightforward conventional fuzzy control; fuzzy control with gravity compensation; fuzzy control with nonlinear state feedback; and a novel self-organizing fuzzy control idea. The methods are tested by simulations on a SCARA type robot and on the first three links of an articulated arm. Performances of these algorithms are compared

Keywords

compensation; control system analysis; fuzzy control; manipulators; motion control; nonlinear control systems; self-adjusting systems; state feedback; SCARA type robot; algorithms; control performance; control simulation; fuzzy control schemes; gravity compensation; nonlinear state feedback; robotic manipulators; self-organizing fuzzy control; Fuzzy control; Fuzzy logic; Gravity; Manipulator dynamics; Nonlinear control systems; Organizing; Robot control; Shoulder; State feedback; Testing;

fLanguage

English

Publisher

ieee

Conference_Titel

Industrial Electronics, Control, and Instrumentation, 1995., Proceedings of the 1995 IEEE IECON 21st International Conference on

Conference_Location

Orlando, FL

Print_ISBN

0-7803-3026-9

Type

conf

DOI

10.1109/IECON.1995.483334

Filename

483334