한국지능시스템학회:학술대회논문집 (Proceedings of the Korean Institute of Intelligent Systems Conference)
- 한국퍼지및지능시스템학회 1993년도 Fifth International Fuzzy Systems Association World Congress 93
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- Pages.1410-1413
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- 1993
FUZZY CONTROL OF THREE LINKS A ROBOTIC MANIPULATOR
- Kumbla, Kishan (CAD Laboratory for Intelligent and Robotics Systems Department of Electrical and Computer Engineering The University of New Mexico) ;
- Jamshidi, Mo (CAD Laboratory for Intelligent and Robotics Systems Department of Electrical and Computer Engineering The University of New Mexico)
- 발행 : 1993.06.01
초록
This paper presents the application of fuzzy control to three links of a Rhino robot and compares its performance to traditional PD control. The dynamics of motion of robot links are governed by nonlinear differential equations. The fuzzy controller, being an adaptive technique, gives better performance than the traditional linear PD controller over a typical operational range. The fuzzy controller reaches the desired position with no overshoot, which is unlikely with the PD controller.
키워드