FUZZY CONTROL FOR A ROBOT MANIPULATOR WITH ARTIFICIAL RUBBER MUSCLES
نویسندگان
چکیده
منابع مشابه
Fuzzy Logic Control for Manipulator Robot actuated by Pneumatic Artificial Muscles
In this work, we proposed fuzzy logic control of the manipulator robot actuated by the pneumatics artificial muscles. By using bang-bang motion generation, the control objective is the position and velocity tracking the robot. Simulations results demonstrate the feasibility and advantages of our proposed approach.
متن کاملadaptive fuzzy control of a mobile manipulator robot
a mobile manipulator robot is known as a complex system due to some properties such as coupling between the manipulator and mobile chassis, holonomic and nonholonomic constraints, multivariable and nonlinear dynamics. the control of robot faces the external disturbance, parametric uncertainty and unmodeled dynamics. therefore, the use of an adaptive fuzzy system is suggested for its capability ...
متن کاملDecentralized RBFNN Type-2 Fuzzy Sliding Mode Controller for Robot Manipulator Driven by Artificial Muscles
In the few last years, investigations in neural networks, fuzzy systems and their combinations become attractive research areas for modeling and controlling of uncertain systems. In this paper, we propose a new robust controller based on the integration of a Radial Base Function Neural Network (RBFNN) and an Interval Type‐2 Fuzzy Logic (IT2FLC) for robot manipulato...
متن کاملa new type-ii fuzzy logic based controller for non-linear dynamical systems with application to 3-psp parallel robot
abstract type-ii fuzzy logic has shown its superiority over traditional fuzzy logic when dealing with uncertainty. type-ii fuzzy logic controllers are however newer and more promising approaches that have been recently applied to various fields due to their significant contribution especially when the noise (as an important instance of uncertainty) emerges. during the design of type- i fuz...
15 صفحه اولStiffness control of a legged robot equipped with a serial manipulator in stance phase
The ability to perform different tasks by a serial manipulator mounted on legged robots, increases the capabilities of the robot. The position/force control problem of such a robot in the stance phase with point contacts on the ground is investigated here. A target plane with known stiffness is specified in the workspace. Active joints of the legs and serial manipulator are used to exert the de...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
ژورنال
عنوان ژورنال: Proceedings of the JFPS International Symposium on Fluid Power
سال: 1996
ISSN: 2185-6303
DOI: 10.5739/isfp.1996.241