A Digital Simplified Control of a Flexible Arm.

Chapter 16: Control of a Flexible Robot Arm using a Simplified Fuzzy Controller

A flexible robot arm is a distributed system per se. Its dynamics are very complicated and coupled with the non-minimum phase nature due to the non-collocated construction of the sensor and actuator. This gives rise to difficulty in the control of a flexible arm. In particular, the control of a flexible arm usually suffers from control spillover and observation spillover due to the use of a lin...

A New Type-2 Fuzzy Systems for Flexible-Joint Robot Arm Control

In this paper an adaptive neuro fuzzy inference system based on interval Gaussian type-2 fuzzy sets in the antecedent part and Gaussian type-1 fuzzy sets as coefficients of linear combination of input variables in the consequent part is presented. The capability of the proposed method (we named ANFIS2) to function approximation and dynamical system identification is shown. The ANFIS2 structure ...

Control of a Flexible Robot Arm

We model a exible robot arm supported at a prismatic joint so the length of (the relevant part of) the rod is variable | indeed, this variation in the length of the arm is taken to be the control action. The principal results are: exact controllability for the consideration of purely longitudinal vibrations (wave equation) and the existence of optimal controls in the more practically interestin...

Robust Control of a Flexible Arm

Distributed Digital Control of a Robot Arm

Most robot arms use a central control box that contains the power electronics, .. the motor controllers and the coordinating computer. This paper presents a distributed control network that allows the power electronics and motor controllers to be placed adjacent to the motors. Each controller uses a DSP for all motor control w~th the individual controllers communicating wIth each other and a ho...