A two layer robot control design

被引：0
|
作者：
Abdessemed, F [1 ]
Benmahammed, K [1 ]
机构：
[1] Batna Univ, Inst Elect, Batna 05000, Algeria
来源：
1998 IEEE INTERNATIONAL CONFERENCE ON FUZZY SYSTEMS AT THE IEEE WORLD CONGRESS ON COMPUTATIONAL INTELLIGENCE - PROCEEDINGS, VOL 1-2 | 1998年
关键词：
fuzzy; robotics; PID; precompensator;
D O I：
暂无
中图分类号：
TP18 [人工智能理论];
学科分类号：
081104 ; 0812 ; 0835 ; 1405 ;
摘要：
This paper reports some results obtained by a rule-based PID precompensator controller applied to a two joints manipulator. The end effector is made to follow a specified trajectory obtained from the inverse kinematics by an appropriate design of a fuzzy control law. The desired trajectory is determined by the values of the joint variables and the structural kinematics parameters of the manipulator. The performance of the PID controller are exploited here in order to build a fuzzy precompensator that will enhance the conventional PID in order to obtain better performances and results.
引用
收藏
页码：522 / 527
页数：6
相关论文
共 50 条
  • [21] APPLICATION OF REINFORCEMENT LEARNING TO A TWO DOF ROBOT ARM CONTROL
    Albers, Albert
    Yan Wenjie
    Frietsch, Markus
    ANNALS OF DAAAM FOR 2009 & PROCEEDINGS OF THE 20TH INTERNATIONAL DAAAM SYMPOSIUM, 2009, 20 : 415 - 416
  • [22] Design and Control of a Hydraulic Simulator for a Flexible-Joint Robot
    Fotouhi, R.
    Salmasi, H.
    Dezfulian, S.
    Burton, R.
    ADVANCED ROBOTICS, 2009, 23 (06) : 655 - 679
  • [23] Control design for robust performance of a direct-drive robot
    Kostic, D
    de Jager, B
    Steinbuch, M
    CCA 2003: PROCEEDINGS OF 2003 IEEE CONFERENCE ON CONTROL APPLICATIONS, VOLS 1 AND 2, 2003, : 1448 - 1453
  • [24] Towards autonomous selective harvesting: A review of robot perception, robot design, motion planning and control
    Rajendran, Vishnu
    Debnath, Bappaditya
    Mghames, Sariah
    Mandil, Willow
    Parsa, Soran
    Parsons, Simon
    Ghalamzan-E., Amir
    JOURNAL OF FIELD ROBOTICS, 2024, 41 (07) : 2247 - 2279
  • [25] Variable structure control for a two-link robot arm
    Huang, YJ
    ELECTRICAL ENGINEERING, 2003, 85 (04) : 195 - 204
  • [26] Design and Implementation of an Interactive System for Service Robot Control and Monitoring
    Santana, Jonas Machado
    Silveira, Bruno Duarte
    Lima, Crescencio
    Diaz-Amado, Jose
    Libarino, Cleia Santos
    Marques, Joao E. Soares
    Barrios-Aranibar, Dennis
    Patino-Escarcina, Raquel E.
    SENSORS, 2025, 25 (04)
  • [27] Robust-control-based controller design for a mobile robot
    Scaglia, Gustavo J. E.
    Mut, Vicente A.
    Jordan, Mario
    Calvo, Carlos
    Quintero, Lucia
    JOURNAL OF ENGINEERING MATHEMATICS, 2009, 63 (01) : 17 - 32
  • [28] Two-wheeled robot platform based on PID control
    Meng, Jie
    Liu, Anbang
    Yang, Yiqin
    Wu, Zhe
    Xu, Qingyang
    2018 5TH INTERNATIONAL CONFERENCE ON INFORMATION SCIENCE AND CONTROL ENGINEERING (ICISCE 2018), 2018, : 1011 - 1014
  • [29] Robust-control-based controller design for a mobile robot
    Gustavo J. E. Scaglia
    Vicente A. Mut
    Mario Jordan
    Carlos Calvo
    Lucia Quintero
    Journal of Engineering Mathematics, 2009, 63 : 17 - 32
  • [30] Design and Control of a Compact, Modular Robot for Transbronchial Lung Biopsy
    Amack, Stephanie
    Rox, Margaret
    Mitchell, Jason
    Ertop, Tayfun Efe
    Emerson, Maxwell
    Kuntz, Alan
    Maldonado, Fabien
    Akulian, Jason
    Gafford, Joshua
    Alterovitz, Ron
    Webster, Robert J., III
    MEDICAL IMAGING 2019: IMAGE-GUIDED PROCEDURES, ROBOTIC INTERVENTIONS, AND MODELING, 2019, 10951
12345