Verification hybrid control of a wheeled mobile robot and manipulator

被引：3
|
作者：
Muszynska, Magdalena [1 ]
Burghardt, Andrzej [1 ]
Kurc, Krzysztof [1 ]
Szybicki, Dariusz [1 ]
机构：
[1] Rzeszow Univ Technol, Dept Appl Mech & Robot, 8 Powstancow Warszawy St, PL-35959 Rzeszow, Poland
来源：
OPEN ENGINEERING | 2016年 / 6卷 / 01期
关键词：
mobile robot; manipulator; neuro fuzzy system; position-force control;
D O I：
10.1515/eng-2016-0007
中图分类号：
T [工业技术];
学科分类号：
08 ;
摘要：
In this article, innovative approaches to realization of the wheeled mobile robots and manipulator tracking are presented. Conceptions include application of the neural-fuzzy systems to compensation of the controlled system's nonlinearities in the tracking control task. Proposed control algorithms work on-line, contain structure, that adapt to the changeable work conditions of the controlled systems, and do not require the preliminary learning. The algorithm was verification on the real object which was a Scorbot-ER 4pc robotic manipulator and a Pioneer-2DX mobile robot.
引用
收藏
页码：64 / 72
页数：9
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