Independent joint adaptive fuzzy control of robot manipulator

Independent joint adaptive fuzzy control of robot manipulator

Robot manipulator has highly nonlinear dynamics. Therefore the control of multi-link robot arms is a challenging and difficult problem. In this paper independent joint adaptive fuzzy logic scheme is developed for control of robot manipulators. The proposed scheme does not require an accurate manipul...

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Bibliographic Details
Published in:Proceedings of the 5th Biannual World Automation Congress Vol. 14; pp. 645 - 652
Main Author: Kim, V.T.
Format: Conference Proceeding
Language:English
Published: IEEE 2002
Subjects:
Adaptive control
Control systems
Fuzzy control
Fuzzy logic
Fuzzy sets
Fuzzy systems
Manipulator dynamics
Programmable control
Robots
Sliding mode control
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Summary:Robot manipulator has highly nonlinear dynamics. Therefore the control of multi-link robot arms is a challenging and difficult problem. In this paper independent joint adaptive fuzzy logic scheme is developed for control of robot manipulators. The proposed scheme does not require an accurate manipulator dynamic model and the joint acceleration measurement, yet it guarantees asymptotic trajectory tracking despite gross robot parameter variations. No inversion or the estimated mass matrix is involved. Numerical simulation for independent joint control of a 3-axis PUMA arm will also be included.
ISBN:9781889335186
1889335185
DOI:10.1109/WAC.2002.1049508