Variable Structure Fuzzy Logic Control of Robotic Manipulators

نویسندگان
چکیده

برای دانلود باید عضویت طلایی داشته باشید

برای دانلود متن کامل این مقاله و بیش از 32 میلیون مقاله دیگر ابتدا ثبت نام کنید

اگر عضو سایت هستید لطفا وارد حساب کاربری خود شوید

منابع مشابه

Fuzzy Logic Applications in Control of Robotic Manipulators

Abstract. Fuzzy Logic (nebulous logic) is a one of the fields from computation what else has been growing on the last years, principally due the advance from the new computational technologies. These applications may be found at diverse devices of the day the day , such as into the control of machines of wash, juncture, air-conditioning and another. In robotics, can you to apply with certain sa...

متن کامل

eliminating chattering phenomenon in sliding mode control of robotic manipulators using fuzzy logic

in industrial robotic manipulator, due to the presence of quite nonlinear dynamic and structural and nonstructural uncertainties, a precise model is not easily obtained. as a result, designing a controller with a suitable function based on system model is a challenging issue. sliding mode control is a robust control with numerous applications which can overcome the aforementioned uncertainties....

متن کامل

Discrete-time repetitive optimal control: Robotic manipulators

This paper proposes a discrete-time repetitive optimal control of electrically driven robotic manipulators using an uncertainty estimator. The proposed control method can be used for performing repetitive motion, which covers many industrial applications of robotic manipulators. This kind of control law is in the class of torque-based control in which the joint torques are generated by permanen...

متن کامل

Fuzzy unidirectional force control of constrained robotic manipulators

The end e*ector of a robotic arm is required to keep a contact on the contour of the constraint surface in tasks such as deburring and grinding. Being di*erent from contacts resulted from general mechanical pairs, such a contact is unidirectional, or equivalently, the contact force can only act along the outward normal of the constraint surface at the contact point. How to achieve this speci.ca...

متن کامل

On Evolving Fuzzy Modeling for Visual Control of Robotic Manipulators

In this paper, evolving takagi-sugeno fuzzy models are applied to model a dynamic system, e.g. a six degrees of freedom robotic manipulator. In recent years the dynamic model was obtained off-line, but when the robot performs tasks away from the modeled workspace, it fails in achieve the goal. Then, the models must evolve when the robot moves to a previously un-modeled workspace. The models wer...

متن کامل

ذخیره 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 ISCIE International Symposium on Stochastic Systems Theory and its Applications

سال: 1996

ISSN: 2188-4730,2188-4749

DOI: 10.5687/sss.1996.169