대한전기학회:학술대회논문집 (Proceedings of the KIEE Conference)
- 대한전기학회 1995년도 하계학술대회 논문집 B
- /
- Pages.830-832
- /
- 1995
유연 로봇 매니퓰레이터의 퍼지 제어기 설계
Design of a Fuzzy Logic Controller for the Flexible Manipulator
- Lee, Seung-Jun (Department of Electrical & Control Engineering Hong-Ik University) ;
- Lee, Kee-Seong (Department of Electrical & Control Engineering Hong-Ik University)
- 발행 : 1995.07.20
초록
A position Control algorithm of the flexible manipulator is studied. The proposed algorithm is based on a Fuzzy Logic Control(FLC) method using the human's experiences. FLC does not need a dynamic modeling of a flexible manipulator. A Fuzzy logic controller is designed that the end-point of the flexible manipulator tracks the desired trajectory. The control input to the process is determined by the error and variation of error. Simulation result shows a robustness of FLC compared with the PID control algorithm.
키워드