Design Computed Torque Controller with Parallel Fuzzy Inference System Compensator to Control of Robot Manipulator
نویسندگان
چکیده
منابع مشابه
Design Computed Torque Controller with Parallel Fuzzy Inference System Compensator to Control of Robot Manipulator
Computed torque controller (CTC) is a significant nonlinear controller under condition of partly uncertain dynamic parameters of system. This controller is used to control of h ighly nonlinear systems especially for robot manipulators, because this controller is a robust and stable. Conversely, computed torque controller is used in many applications; it has an important drawback namely; nonline...
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Sliding mode controller (SMC) is a significant nonlinear controller under condition of partly uncertain dynamic parameters of system. This controller is used to control of highly nonlinear systems especially for robot manipulators, because this controller is a robust and stable. Conversely, pure sliding mode controller is used in many applications; it has two important drawbacks namely; chatter...
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Robots are highly nonlinear and chaotic in position control. The present paper mainly presents the position control of PUMA-560 Robot manipulator. Computed torque controller (CTC) is one of the solutions for position control of robot manipulators. The main drawback of controller is that it fails to operate under different dynamic operating conditions. To overcome this difficulty, intelligent co...
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15 صفحه اولPredictive Computed-torque Control of a Puma 560 Manipulator Robot
Abstract: This paper describes the integration of constrained predictive control and computed-torque control, and its application on a six degree-of-freedom PUMA 560 manipulator arm. The real-time implementation was based on SIMULINK, with the predictive controller and the computed-torque control law implemented in the C programming language. The constrained predictive controller solved a quadr...
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ژورنال
عنوان ژورنال: International Journal of Information Engineering and Electronic Business
سال: 2013
ISSN: 2074-9023,2074-9031
DOI: 10.5815/ijieeb.2013.03.08