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Independent Joint Adaptive Control of Robot Manipulator Using the Sugeno-type of Fuzzy Logic  

김영태 (동국대학교 전기공학과)
Publication Information
Journal of the Korean Society for Precision Engineering / v.20, no.6, 2003 , pp. 55-61 More about this Journal
Abstract
Control of multi-link robot arms is a challenging and difficult problem because of the highly nonlinear dynamics. Independent joint adaptive scheme is developed for control of robot manipulators based on Sugeno-type of fuzzy logic. Fuzzy logic system is used to approximate the coupling forces among the joints, coriolis force, centrifugal force, gravitational force, and frictional forces. The proposed scheme does not require an accurate manipulator dynamic, and it is proved that closed-loop system is asymptotic stable despite the gross robot parameter variations. Numerical simulations for three-axis PUMA robot are included to show the effectiveness of controller.
Keywords
Fuzzy control; Adaptive control; Independent joint control; Robot control;
Citations & Related Records
Times Cited By KSCI : 2  (Citation Analysis)
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