제어로봇시스템학회:학술대회논문집
- 2001.10a
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- Pages.176.1-176
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- 2001
A Fuzzy Control of a 3-dimensional Inverted Pendulum Using a 3-axis Cartesian Robot
- Shin, Ho-sun (Kyungpook National University) ;
- chu, Jun-Uk (Kyungpook National University) ;
- Lee, Yun-Jung (Kyungpook National University)
- Published : 2001.10.01
Abstract
Conventional researches almost have been focused on the one dimensional inverted pendulum. Recently, Sprenger et al[2] have researched a two dimensional inverted pendulum Observing human's action to control an inverted pendulum, one can recognize that human uses a three dimensional metier including the up and down motion. In this paper, we propose a fuzzy logic controller(FLC) of a new three dimensional inverted pendulum system. We derive a dynamic equation of the mechanism including a 3-axis cartesian robot and a inverted pendulum. We propose a design method of a fuzzy controller of the yaw and pitch angles of a inverted pendulum. In the design, the redundant degree-of-freedom(DOF) of the robot ...
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