Title :
Fuzzy modeling of a hydraulic parallel link manipulator actuators´ forces
Author :
Zyada, Z. ; Hasegawa, Y. ; Vachkov, G. ; Fukuda, T.
Author_Institution :
Dept. of Micro Syst. Eng., Nagoya Univ., Japan
Abstract :
We present a fuzzy-logic based model for every hydraulic actuator of a parallel link manipulator. Construction of a fuzzy model rule base is composed of two stages; the first stage is: learning rules from examples for the acquired input/output data; while the second stage is: completing the unknown fuzzy rules from heuristics and experience. The algorithm of fuzzy-rule base modeling as well as the actuators´ forces results from models and experiments, for a 6 DOF Stewart platform, are presented.
Keywords :
actuators; fuzzy logic; heuristic programming; hydraulic control equipment; learning (artificial intelligence); manipulators; 6-DOF Stewart platform; fuzzy model rule base; fuzzy modeling; heuristics; hydraulic parallel link manipulator actuator forces; Assembly systems; Electronic mail; Force control; Friction; Fuzzy logic; Fuzzy systems; Hydraulic actuators; Mathematical model; Power system modeling; Robotic assembly;
Conference_Titel :
SICE 2002. Proceedings of the 41st SICE Annual Conference
Print_ISBN :
0-7803-7631-5
DOI :
10.1109/SICE.2002.1195787
