Fuzzy Logic Trajectory Control of Flexible Robot Manipulator With Rotating Prismatic Joint
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Dosyalar
Tarih
2010
Dergi Başlığı
Dergi ISSN
Cilt Başlığı
Yayıncı
IEEE
Erişim Hakkı
info:eu-repo/semantics/openAccess
Özet
In this study, a fuzzy logic controller is designed in order to use in trajectory control of a robot manipulator. The considered robot manipulator consists of a rotating-prismatic joint housing a sliding flexible arm that carries a concentrated mass at the tip end. The tip end of the flexible arm traces a multi-straight-line path. This study is aimed to use a fuzzy logic controller in controlling the trajectory traced by the tip end of the flexible arm so as to reduce the vibrations induced in the flexible arm. The designed fuzzy controller is aimed to control both the position of the tip end of the flexible robot arm while the tip end traces a multi-straight-line path and the vibrations induced in the flexible arm. Numerical simulations obtained by using a developed computer program are presented and physical trend of obtained numerical results are discussed. The performance of the fuzzy logic control system is evaluated on the basis of the simulation results.
Açıklama
2nd International Conference on Computer and Automation Engineering (ICCAE) -- FEB 26-28, 2010 -- Singapore, SINGAPORE
Anahtar Kelimeler
Flexible robot arm, fuzzy logic controller, straight line path, multi straight line path, trajectory control, rotating prismatic joint, vibration control.
Kaynak
2010 2nd International Conference on Computer and Automation Engineering (Iccae 2010), Vol 3
WoS Q Değeri
N/A
Scopus Q Değeri
N/A
Cilt
3
Sayı
Künye
Botsalı, F. M., Kalyoncu, M., Tınkır, M., Önen, Ü., (2010). Fuzzy Logic Trajectory Control of Flexible Robot Manipulator With Rotating Prismatic Joint. 2010 2nd International Conference on Computer and Automation Engineering (Iccae 2010), (3), 35-39. Doi: 10.1109/ICCAE.2010.5451849
