Proceedings of the Korean Institute of Intelligent Systems Conference (한국지능시스템학회:학술대회논문집)
- 1995.10b
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- Pages.165-173
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- 1995
Fuzzy control of a robot manipulator in Cartesian space
Cartesian 공간에서 로봇 머니퓰레이터의 퍼지제어
Abstract
In order to eliminate position errors existing at the steady state in the motion control of robotic maniprlators, a new fuzzy control algorithm is proposed using three variables, position error, velocity error and integral of position errors as input variables of the fuzzy controller, This controller is applied to the tracking control of robotic manipulators in Cartesian space. Three dimensional look-up table is used to reduce the computational time in rel-time control. Simulation and experimental studies are conducted to evaluate the control performance for the two axis direct drive SCARA robot system.
Keywords