Proceedings of the Korean Institute of Intelligent Systems Conference (한국지능시스템학회:학술대회논문집)

Korean Institute of Intelligent Systems (한국지능시스템학회)
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Fuzzy control for a flexible arm manipulator

  • Fortuna, L. (Electrical, Electron. and Syst. Dept. University of Catana) ;
  • LoPresti, M. (Co.Ri.M.Me. (SGS-Thomson), Fuzzy Logic Research Group) ;
  • Vinci, C. (Co.Ri.M.Me. (SGS-Thomson), Fuzzy Logic Research Group)
  • Published : 1993.06.01
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Abstract

In this paper a fuzzy controller for a flexible arm with one degree of freedom is presented. Goal of the control is to drive the manipulator to the position $\theta$0 avoiding the oscillations due the elasticity of the arm. The performances of the fuzzy controller are evaluated through a series of simulations that shows appreciable results both for the transient and the steady behaviour.

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