Title :
Fuzzy-logic dynamics modeling of robot manipulators
Author :
Emami, Mohammad R. ; Goldenberg, Andrew A. ; Türksen, I. Burhan
Author_Institution :
Robotics & Autom. Lab., Toronto Univ., Ont., Canada
Abstract :
A systemic approach of fuzzy-logic modeling from the system input-output data is applied to modeling dynamics behavior of a four degree-of-freedom robot manipulator. The output of the fuzzy model is compared with the experimental data and with that of an analytical simulation. The simplicity of the fuzzy model and its improved accuracy is significant
Keywords :
fuzzy logic; fuzzy set theory; manipulator dynamics; modelling; parameter estimation; dynamics modeling; fuzzy model; fuzzy set theory; fuzzy-logic; parameter estimation; robot manipulators; Analytical models; Computational modeling; Friction; Fuzzy systems; Inverse problems; Laboratories; Manipulator dynamics; Robotics and automation; Service robots; Torque;
Conference_Titel :
Robotics and Automation, 1998. Proceedings. 1998 IEEE International Conference on
Conference_Location :
Leuven
Print_ISBN :
0-7803-4300-X
DOI :
10.1109/ROBOT.1998.680719
