WANG zhaolin, WANG Dali. FUZZY CONTROL OF A CLASS OF ELASTIC ROBOTS[J]. ROBOT, 1992, 14(6): 1-9.
Citation: WANG zhaolin, WANG Dali. FUZZY CONTROL OF A CLASS OF ELASTIC ROBOTS[J]. ROBOT, 1992, 14(6): 1-9.

FUZZY CONTROL OF A CLASS OF ELASTIC ROBOTS

More Information
  • Received Date: August 21, 1991
  • Published Date: November 14, 1992
  • In this paper,the problem of fuzzy control for a class of multi-elastic links robots is studied.Firstly,thedynamic simulation model of the robot is proposed.Next,based on the control rules generated by functions,the fuzzy controller is designed.The on-line self-regulating of scaling factors is used to guarantee the satis-factory dynamic properties and steady-state properties of the system.The results of the system simulationshow that the new scheme of elastic robot control in this paper is effective and suitable.So the applicationscope of fuzzy control theory is extended significantly.
  • [1]
    Desoyer K et al. Flexible robot a survey: IFAC Theoiy of robots. Viennd, Austria, 1986, 23-34
    [2]
    王照林,王大力.一类柔性机械臂的建模与控制.清华大学航天技术讨论班报告,1990
    [3]
    Meirovitch L. Elements of vibrntson analysis. New York,MCGraw-Hill, 1975
    [4]
    龙升照,汪培庄.Fuzzy控制规则的自调整问题.模糊数学,1982;(3), 105-111
    [5]
    Peng Xianto et al. Sell-regulating PID controllers and its applications to a temperature controlling process, fuzzy computing. Gupta MM et al, Elsevier Science Publ (North-Holland),1988
    [6]
    Pene Xianto. Generating rules.for,fuzzv logic controllers by functions. Fuzzy Sets and Systems,1990, 36, 83-89
    [7]
    Nemir D et al.control of gripper position of a compliant link using strain gauge measurements,Proc 25th CDC,Athens,Greece,1986:1140-1144

Catalog

    Article views (39) PDF downloads (170) Cited by()
    Related

    /

    DownLoad:  Full-Size Img  PowerPoint
    Return
    Return