RIGID MODEL-BASED FUZZY CONTROL OF FLEXIBLE-JOINT MANIPULATORS

被引：12

作者：

LIN, LC

CHEN, CC

机构：

[1] Department of Mechanical Engineering, National Chung Hsing University, Taichung

来源：

JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS | 1995年 / 13卷 / 02期

关键词：

FLEXIBLE-JOINT MANIPULATOR; FUZZY CONTROL; FEEDBACK LINEARIZATION;

D O I：

10.1007/BF01254847

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 considers the application of fuzzy control to achieve global trajectory tracking and active damping of flexible-joint manipulators. A reasonable approach based on the combined computed torque control using rigid robot model and fuzzy control is suggested for flexible-joint manipulators. Sets of 'four input variables - one output variable' fuzzy control rules for each actuator respectively, are suggested for the perturbation control. The simulation results show that the transient performance and steady-state accuracy are near those of the feedback linearization approach. The simulation results with payload or joint stiffness variation for the single-link case are also shown to demonstrate the robustness of the control law.

引用

页码：107 / 126

页数：20

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