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An investigation of fuzzy logic control of flexible robots

Published online by Cambridge University Press:  09 March 2009

Yueh-Jaw Lin  and
Tian-Soon Lee
Yueh-Jaw Lin
Affiliation:
Department of Mechanical Engineering, The University of Akron, Akron, OH 44325 (USA)
Tian-Soon Lee
Affiliation:
Department of Mechanical Engineering, The University of Akron, Akron, OH 44325 (USA)
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Summary

In this paper a control law, which consists of a fuzzy logic controller plus a nonlinear effects negotiator for a flexible robot manipulator, is presented. The nonlinear effects negotiator is used to enhence the control system's ability in dealing with the uncertainty of the mathematical model. The control algorithm is simple and easy to tune as opposed to conventional control law which requires time consuming gains selections. To obtain fuzzy control rules, an error response plane method is proposed.

Keywords

Fuzzy logicRobot controlNonlinear effects.
Type
Research Article
Information
Robotica , Volume 11 , Issue 4 , July 1993 , pp. 363 - 372
Copyright
Copyright © Cambridge University Press 1993

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