Standing control of a four-link robot

Author

Yang, Jr-Syu ; Chang, Yu-Seng

Author_Institution

Graduate student Dept. of Mech. & Electro-Mech. Eng., Tamkang Univ., Taipei, Taiwan

Volume

1

fYear

2005

fDate

10-12 Oct. 2005

Firstpage

679

Abstract

The objective of this paper is to design a neural fuzzy controller for a four-link robot to stand up vertically and stably from a flat horizontal surface. There are a structural mechanism, a PC, a tilt sensor and three stepping motors in this robot system. The sequence of standing behavior of this robot is designed and assigned by a developed software program in a PC. The artificial neural network (ANN) and fuzzy control algorithm are applied to develop the standing controller for this robot. The position of the center of gravity (COG) is an important factor to determine the stability of the robot. Finally, the robot links are driven by the corresponding motors to demonstrate its dynamic behaviors successfully and automatically.

Keywords

control system CAD; fuzzy control; fuzzy neural nets; robot dynamics; software engineering; artificial neural network; dynamic robot behavior; four-link robot; fuzzy control algorithm; neural fuzzy controller; robot center of gravity; robot stability; robot stepping motor; robot tilt sensor; software program; standing robot control; standing robot sequence; Algorithm design and analysis; Artificial neural networks; Automatic control; Fuzzy control; Gravity; Robot control; Robot sensing systems; Robotics and automation; Sensor systems; Software algorithms; ANN; COG; Four-link robot; Fuzzy control;

fLanguage

English

Publisher

ieee

Conference_Titel

Systems, Man and Cybernetics, 2005 IEEE International Conference on

Print_ISBN

0-7803-9298-1

Type

conf

DOI

10.1109/ICSMC.2005.1571225

Filename

1571225