Title :
Fuzzy servo control of an articulated robot arm
Author :
Kovacic, Zdenko ; Bogdan, Stjepan ; Laci, Vesna
Author_Institution :
Fac. of Electr. Eng., Zagreb Univ., Croatia
Abstract :
The paper deals with an application of fuzzy control in joint servo control of a five-axis electric driven articulated robot arm. The same fuzzy control algorithm is used in all joint servo loops, requiring only multiplexing and proper scaling of the fuzzy controller inputs and outputs. The nonlinear character of the proposed fuzzy controller has provided for highly effective trajectory tracking. Trajectory tracking appears satisfactory also in the presence of external disturbances
Keywords :
fuzzy control; manipulators; multiplexing; position control; servomechanisms; tracking; articulated robot arm; fuzzy servo control; joint servo control; multiplexing; nonlinear control; scaling; trajectory tracking; Control systems; Fuzzy control; Fuzzy logic; Layout; Manipulator dynamics; Robot control; Robot kinematics; Servomechanisms; Servosystems; Trajectory;
Conference_Titel :
Intelligent Robots and Systems '94. 'Advanced Robotic Systems and the Real World', IROS '94. Proceedings of the IEEE/RSJ/GI International Conference on
Conference_Location :
Munich
Print_ISBN :
0-7803-1933-8
DOI :
10.1109/IROS.1994.407364
