Set-Point Regulation of a Robot Manipulator with Flexible Joints Using Fuzzy Control

This papers aims at designing of a set-point regulation control of a two-link planar manipulator with flexible joints considering the motor measurement only. The set-point regulation control is applied to find a feedback control law that attenuates the vibration on the joints for a desired closed-lo...

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Bibliographic Details
Published in:	2015 12th Latin American Robotics Symposium and 2015 3rd Brazilian Symposium on Robotics (LARS-SBR) pp. 103 - 108
Main Authors:	Lara-Molina, F. A., Takano, K. A., Koroishi, E. H.
Format:	Conference Proceeding
Language:	English
Published:	IEEE 01-10-2015
Subjects:	Collision avoidance Manipulator Manipulator dynamics Parallel Distributed Compensation Robot Control Takagi-Sugeno Fuzzy Model Takagi-Sugeno model Torque
Online Access:	Get full text
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Summary:	This papers aims at designing of a set-point regulation control of a two-link planar manipulator with flexible joints considering the motor measurement only. The set-point regulation control is applied to find a feedback control law that attenuates the vibration on the joints for a desired closed-loop balance at a specific configuration. The dynamic model of the flexible manipulator with rigid links and flexible joints is derived using the Lagrange-Euler principle. The nonlinear dynamics of the robotic flexible manipulator is approximated with the help of a Takagi-Sugeno fuzzy model. The control strategy proposed in this contribution is based on the Fuzzy Takagi-Sugeno model as well as the Parallel Distributed Compensation. Simulation results show that the proposed control strategy regulates the position of the robot over a desired position within the workspace.
DOI:	10.1109/LARS-SBR.2015.27