DocumentCode
324114
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
Volume
3
fYear
1998
fDate
16-20 May 1998
Firstpage
2512
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;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 1998. Proceedings. 1998 IEEE International Conference on
Conference_Location
Leuven
ISSN
1050-4729
Print_ISBN
0-7803-4300-X
Type
conf
DOI
10.1109/ROBOT.1998.680719
Filename
680719
Link To Document