Uncertainty Analysis of a Two-Link Robot Manipulator under Fuzzy Parameters

被引：6

作者：

Lara-Molina, F. A. ^{[1
]}

Koroishi, E. H. ^{[1
]}

Steffen, V., Jr. ^{[2
]}

机构：

[1] Fed Technol Univ Parana UTFPR, Cornelio Procopio, PR, Brazil

[2] Univ Fed Uberlandia, Sch Mech Engn, Uberlandia, MG, Brazil

来源：

2014 2ND BRAZILIAN ROBOTICS SYMPOSIUM (SBR) / 11TH LATIN AMERICAN ROBOTICS SYMPOSIUM (LARS) / 6TH ROBOCONTROL WORKSHOP ON APPLIED ROBOTICS AND AUTOMATION | 2014年

关键词：

Manipulator dynamics; Uncertainty; Fuzzy sets; GENERALIZED PREDICTIVE CONTROL; RELIABILITY;

D O I：

10.1109/SBR.LARS.Robocontrol.2014.25

中图分类号：

TH [机械、仪表工业];

学科分类号：

0802 ;

摘要：

This paper aims at analyzing the effect of uncertain parameters on a two-link planar manipulator using a fuzzy dynamic approach. The uncertain parameters are modeled as fuzzy variables and the dynamic simulation of the robot is performed by using fuzzy dynamic analysis. The dynamic model of the manipulator under uncertain payload and friction force is analyzed; additionally, the tracking control performance of the manipulator subject to uncertainties is studied. Numerical simulations illustrate the proposed methodology so that the effect of fuzzy uncertain parameters on the dynamic performance of the robot manipulator is properly described.

引用

页码：1 / 6

页数：6

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