Title :
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
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;
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
DOI :
10.1109/IECON.1995.483334
