Title :
An efficient fuzzy algorithm applied to a flexible link 1-DOF robot
Author :
Surdhar, J.S. ; White, A.S. ; Gill, R.
Author_Institution :
Adv. Manuf. & Mechatronics Centre, Middlesex Univ., London, UK
Abstract :
A fuzzy PD algorithm is used in a novel tip feedback sensor (TFS) based control configuration for the control of tip vibrations of a 1-DOF flexible link robot. By encoding fuzzy sets in arrays and partitioning the inherently fuzzy PD controller onto a network of transputers it is shown that an effective real-time control can be achieved. This controller is shown both in simulation and in practice to out perform conventional PD control in terms of the rise time, settling time and steady state error
Keywords :
manipulator dynamics; 1-DOF flexible link robot; fuzzy PD controller; fuzzy algorithm; real-time control; rise time; settling time; steady state error; tip feedback sensor; tip vibration control; Encoding; Error correction; Feedback; Fuzzy control; Fuzzy sets; PD control; Partitioning algorithms; Robot sensing systems; Steady-state; Vibration control;
Conference_Titel :
Fuzzy Systems, 1996., Proceedings of the Fifth IEEE International Conference on
Conference_Location :
New Orleans, LA
Print_ISBN :
0-7803-3645-3
DOI :
10.1109/FUZZY.1996.551721
