Mathematical modeling and fuzzy control of a flexible-link robot arm
نویسندگان
چکیده
منابع مشابه
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 ...
متن کاملAdaptive Inverse Control of Flexible Link Robot Using ANFIS Based on Type-2 Fuzzy
This paper presents a novel 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. The capability of the proposed ANFIS2 for function approximation and dynamical system identification is remarkable. The structure of ANFIS2 is very sim...
متن کاملControl of Flexible Link Robot using a Closed Loop Input-Shaping Approach
This paper is has addressed the Single Flexible Link Robot. The dynamical model is derived using Euler-Lagrange equation and then a proper controller is designed to suppress a vibration based-on Input-Shaping (IS) method. But, IS control method is an open loop strategy. Due to the weakness of open loop control systems, a closed loop IS control system is proposed. The achieved closed loop c...
متن کاملFuzzy logic control for flexible link robot arm by singular perturbation approach
This work addresses flexible-link robot arm control using fuzzy logic, and a singular perturbation approach. A singular perturbation approach is introduced to derive the slow and fast subsystems and thus reduce the effect of spillover. Consequently, a two-time scale fuzzy logic controller will be applied for such systems. The fast-subsystem controller damps out the vibration of the flexible str...
متن کاملControl of Flexible Robot Arm
T h i s work is a computer simulation of the control of flexi ble robot arm. The dynamic equations for a single-link flexible robot arm have been derived rigorously. Th is arm has two degrees of freedom in rotation and one in translation so that the workspdce i s three-dimensional. The payload is simulated by attaching additional mass to the arm at a specified location. The governing equations ...
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ژورنال
عنوان ژورنال: Mathematical and Computer Modelling
سال: 1998
ISSN: 0895-7177
DOI: 10.1016/s0895-7177(98)00030-2