Implementation of a Fuzzy TSK Controller for a Flexible Joint Robot
نویسندگان
چکیده
منابع مشابه
Implementation of a Fuzzy TSK Controller for a Flexible Joint Robot
This paper proposes a fuzzy TSK controller to control a rotary flexible joint manipulator. The flexibility of joint is performed by means of a solenoid nonlinear spring, which is connected between actuator output and joint input in a bilateral connection form to transfer the produced torque; also the smooth model of frictions is used for modeling the dynamics of flexible manipulator. The effect...
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ژورنال
عنوان ژورنال: Discrete Dynamics in Nature and Society
سال: 2012
ISSN: 1026-0226,1607-887X
DOI: 10.1155/2012/279498