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

页码：522 / 527

页数：6

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