Integrated Joint Actuator for Serpentine Robots
نویسندگان
چکیده
منابع مشابه
Direct adaptive fuzzy control of flexible-joint robots including actuator dynamics using particle swarm optimization
In this paper a novel direct adaptive fuzzy system is proposed to control flexible-joints robot including actuator dynamics. The design includes two interior loops: the inner loop controls the motor position using proposed approach while the outer loop controls the joint angle of the robot using a PID control law. One novelty of this paper is the use of a PSO algorithm for optimizing the contro...
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متن کاملdirect adaptive fuzzy control of flexible-joint robots including actuator dynamics using particle swarm optimization
in this paper a novel direct adaptive fuzzy system is proposed to control flexible-joints robot including actuator dynamics. the design includes two interior loops: the inner loop controls the motor position using proposed approach while the outer loop controls the joint angle of the robot using a pid control law. one novelty of this paper is the use of a pso algorithm for optimizing the contro...
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متن کاملDirect adaptive fuzzy control of flexible-joint robots including actuator dynamics using particle swarm optimization
In this paper, a novel direct adaptive fuzzy system is proposed to control flexible-joint robots including actuator dynamics. This design includes two interior loops. The inner loop controls the motor position using the proposed approach, while the outer one controls the joint angle of robots using a proportional-integralderivative (PID) control law. One novelty of this paper is the use of a pa...
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ژورنال
عنوان ژورنال: IEEE/ASME Transactions on Mechatronics
سال: 2005
ISSN: 1083-4435
DOI: 10.1109/tmech.2005.856222