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This paper presents a new general and fast scheme for solving the inverse kinematics problem (IKP) of the multilink robot arm. The proposed strategy is general as in it is independent of the geometry of the robot arm or its number of degrees of freedom (DOF) and only the forward kinematics is required. The proposed method is a closed-loop strategy in which the IKP is restated as a control problem...
In this paper, a single-link flexible joint robot is designed, fabricated and controlled. Three different fuzzy logic controllers (FLCs) were used to remove link vibrations and to obtain accurate trajectory tracking of link end-point. The input variables of the first and the second FLCs are motor rotation angle error and its derivative, and end-effector deflection error and derivative of deflection...
Force control algorithm of the robot manipulator contacting with a constraint surface with uncertain figure and stiffness error is discussed in this paper. To accomplish the accurate parameter less-relying constraint motion, a real-time adjusting fuzzy logic of reference trajectories in impedance model is proposed. The adjustment depends on the real-time force and position feedback. Simulation experiments...
A fuzzy direct adaptive control strategy is proposed for the trajectory tracking control of robotic manipulators. Different to the traditional fuzzy adaptive control method, a generalized hyperbolic model is used to be the fuzzy basis function. The input generalized variables of the fuzzy logic system, derived from the input variables after their transformation, can cover with the whole input space...
The increased complexity of the dynamics of robots manipulator considering joint elasticity makes conventional model-based control strategies complex and difficult to synthesize. This paper presents investigations into the development of composite Fuzzy Logic Control for trajectory tracking and vibration control of a flexible joint manipulator. To study the effectiveness of the controllers, a PD-type...
Applications of switched reluctance motor (SRM) to direct drive robot are increasingly popular because of its valuable advantages. However, a greatest potential defect its torque ripple owing to the significant nonlinearities. In this paper, a fuzzy neural network (FNN) is applied to control the SRM torque at the goal of the torque-ripple minimization. The desired current provided by FNN model compensates...
This paper presents a general methodology of adaptive control for a parallel or constrained manipulator based on its Takagi-Sugeno (T-S) fuzzy model. The problem of controller parameter adaption is accomplished using a direct approach, i.e. the controller parameters are estimated without explicitly estimating plant parameters or uncertainties. In the nonlinear dynamic equations of parallel manipulators,...
In this paper, two different adaptive network based fuzzy logic controllers (Neuro-Fuzzy) are designed for trajectory tracking control of a 3-DOF scara type robot manipulator. The kinematic and the dynamic equations are used to obtain equations of motion of robot manipulator and three different rise functions are chosen for desired Cartesian trajectory as circular tool trajectory. The performances...
The increased complexity of the dynamics of robots manipulator considering joint elasticity makes conventional model-based control strategies complex and difficult to synthesize. This paper presents investigations into the development of composite collocated proportional-derivative (PD) and Fuzzy Logic Control for trajectory tracking and vibration control of a flexible joint manipulator respectively...
Aiming at the model uncertainties and external disturbances of the robotic systems, First regard the exterior disturbances as system input, with skew-symmetric characteristics of the robot, this paper designed a controller based on the theory of passivity, and then used the classic sliding mode control to compensate the uncertainties' influence. In order to eliminate chattering of sliding mode controller,...
A adaptive Radial basis function neural network (RBFNN) based fuzzy sliding mode control scheme for two link robot manipulator is proposed in this paper. In the scheme, RBFNN is used to approximate system dynamic, the weights of the RBFNN are changed according to adaptive algorithm to ensure the system state hitting the sliding surface and sliding along it. In order to guarantee the stability and...
In order to control the manipulator to track a given trajectory accurately and get good real-time performance put forward an improved RBF fuzzy neural network algorithm. In this algorithm, a novel Fuzzy Genetic Algorithm (FGA) was used to regulate the parameters of a neural fuzzy controller, make it optimized and a Nearest Neighbor Clustering Algorithms (NNCA) was adopted to refresh the fuzzy rules...
This paper presents investigations into the development of input shaping with proportional-derivative (PD)-type fuzzy logic control for trajectory tracking and vibration control of a flexible joint manipulator. To study the effectiveness of the controllers, a PD-type fuzzy logic controller is developed for tip angular position control of a flexible joint manipulator. This is then extended to incorporate...
This paper proposes a method for the design of a real-time fuzzy trajectory generator for the robotic rehabilitation of patients with upper limb dysfunction due to neurological diseases. The system utilizes a fuzzy-logic schema to introduce compliance into the human-robot interaction, and to allow the emulation of a wide variety of therapy techniques. This approach also allows for the fine-tuning...
Based on the SimMechanics Toolbox of MATLAB, this paper introduces a method of simulation in researching 3-RRRT parallel manipulator. Through deeply studying fuzzy control theory, for overcoming the shortcomings and inadequacies of the PID control algorithm, a fuzzy adaptive supervisory algorithm is presented in this paper. The paper discusses how to use it to optimize the conventional PID controller,...
In this paper, we present a dynamic redundancy resolution technique for mobile manipulators using a position fuzzy controller. First, the dynamic model of the mobile manipulator in feasible motion space is given. Next, a control algorithm is proposed which resolve the redundancy by decoupling the motion of the system into the end-effector motion in the task space and an internal motion in the null...
In this paper, a novel hybrid fuzzy proportional-integral-derivative (PID) controller based on learning automata for optimal tracking of robot systems including motor dynamics is presented. Learning automata is used at the supervisory level for adjustment of the parameters of hybrid Fuzzy-PID controller during the system operation. The proposed method has better convergence rate in comparison with...
This paper proposes a fuzzy terminal sliding mode control method for two-link flexible manipulators. Based on the singular perturbation method and two time-scale decomposition, the flexible manipulator system is firstly decomposed into two subsystems by modeling the joint angles and the corrected flexible modes as the slow and fast variables, respectively. A nonsingular terminal sliding mode manifold...
A decentralized adaptive fuzzy control scheme for reconfigurable manipulators is proposed to satisfy the concept of modular software. The dynamics of reconfigurable manipulators is represented as a set of interconnected subsystems. The fuzzy logic systems are used to model the unknown dynamics of subsystem and the interconnection term. Based on Lyapunov stability theorem, the stability of the closed-loop...
In this paper, an adaptive fuzzy sliding mode controller is proposed for a three-axis SCARA manipulator. The proposed controller possesses the advantages of adaptive control, fuzzy control, and sliding mode control. Based on the concept of sliding mode, fuzzy rules are developed to alleviate the input chattering effectively by using the developed adaptation law. The stability of the three-axis SCARA...
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