Semi hierarchical adaptive network based fuzzy logic controller design for a multi-straight-line path tracing flexible robot manipulator with rotating-prismatic joint
Küçük Resim Yok
Tarih
2008
Yazarlar
Dergi Başlığı
Dergi ISSN
Cilt Başlığı
Yayıncı
IEEE
Erişim Hakkı
info:eu-repo/semantics/closedAccess
Özet
In this study, a semi-hierarchical adaptive network based fuzzy logic controller for a flexible. robot manipulator with rotating-prismatic joint is designed. The proposed controller is aimed to get the end of the robot manipulator to the desired multi-straight-line path and terminate vibrations on arm while it moves. The controller is divided into two parts. First part is for rotation control of. the arm. Second part has also two subsystems. The slow-subsystem provides desired extension and the fast-subsystem controller controls change in extension. The performance of the adaptive hierarchical control system is evaluated on the basis of the simulation results.
Açıklama
13th International Power Electronics and Motion Control Conference -- SEP 01-03, 2008 -- Poznan, POLAND
Anahtar Kelimeler
Fuzzy control, neural network, adaptive control, motion control, robotics, modeling
Kaynak
2008 13TH INTERNATIONAL POWER ELECTRONICS AND MOTION CONTROL CONFERENCE, VOLS 1-5
WoS Q Değeri
N/A
Scopus Q Değeri
N/A