Adaptive Network Based Fuzzy Logic Control of a Rigid - Flexible Robot Manipulator
Yükleniyor...
Dosyalar
Tarih
2010
Dergi Başlığı
Dergi ISSN
Cilt Başlığı
Yayıncı
Ieee
Erişim Hakkı
info:eu-repo/semantics/openAccess
Özet
In this study position and vibration control of a rigid-flexible robot manipulator is investigated. Initially dynamic model of the manipulator system is obtained by using Lagrange equations and assumed modes method. Two adaptive networks based fuzzy logic controllers (ANFLCs) are proposed for tracking control of the rigid link and the flexible link. The training and testing data of ANFLCs are obtained from the conventional PD control of the manipulator system. The performances of ANFLCs are tested for different type and different number of membership functions. Finally simulation results are obtained. Results demonstrate the remarkable performance of the proposed controllers.
Açıklama
2nd International Conference on Computer and Automation Engineering (ICCAE) -- FEB 26-28, 2010 -- Singapore, SINGAPORE
Anahtar Kelimeler
Fuzzy logic control, Robot manipulator, Flexible link, Tracking control, Vibration control
Kaynak
2010 2nd International Conference on Computer and Automation Engineering
WoS Q Değeri
N/A
Scopus Q Değeri
N/A
Cilt
1
Sayı
Künye
Önen, Ü., Tınkır, M., Kalyoncu, M., Botsalı, F. M., (2010). Adaptive Network Based Fuzzy Logic Control of a Rigid - Flexible Robot Manipulator. 2010 2nd International Conference on Computer and Automation Engineering, (1), 102-106. Doi: 10.1109/ICCAE.2010.5451989
