DocumentCode
3305010
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
Volume
1
fYear
1994
fDate
12-16 Sep 1994
Firstpage
641
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;
fLanguage
English
Publisher
ieee
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
Type
conf
DOI
10.1109/IROS.1994.407364
Filename
407364
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