Set-Point Regulation of a Robot Manipulator with Flexible Joints Using Fuzzy Control

被引：6
作者：
Lara-Molina, F. A. [1 ]
Takano, K. A. [1 ]
Koroishi, E. H. [1 ]
机构：
[1] Fed Technol Univ Parana UTFPR, Dept Mech Engn, Cornelio Procopio, PR, Brazil
来源：
2015 12TH LATIN AMERICAN ROBOTICS SYMPOSIUM AND 2015 3RD BRAZILIAN SYMPOSIUM ON ROBOTICS (LARS-SBR) | 2015年
关键词：
Flexible Manipulator; Takagi-Sugeno Fuzzy Model; Robot Control; Parallel Distributed Compensation; SYSTEMS;
D O I：
10.1109/LARS-SBR.2015.27
中图分类号：
TP24 [机器人技术];
学科分类号：
080202 ; 1405 ;
摘要：
This papers aims at designing of a set-point regulation control of a two-link planar manipulator with flexible joints considering the motor measurement only. The set-point regulation control is applied to find a feedback control law that attenuates the vibration on the joints for a desired closed-loop balance at a specific configuration. The dynamic model of the flexible manipulator with rigid links and flexible joints is derived using the Lagrange-Euler principle. The nonlinear dynamics of the robotic flexible manipulator is approximated with the help of a Takagi-Sugeno fuzzy model. The control strategy proposed in this contribution is based on the Fuzzy Takagi-Sugeno model as well as the Parallel Distributed Compensation. Simulation results show that the proposed control strategy regulates the position of the robot over a desired position within the workspace.
引用
收藏
页码：103 / 108
页数：6
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