A new robust control strategy for robot manipulators is proposed in this paper. The robustness of the control system is achieved by a new fuzzy controller. The controller outputs, that are functions of the position tracking errors and their variations between two running sampled instants, have to compensate the joint dynamics, dynamic coupling among axes, centrifugal, Coriolis, and gravity forces, unknown and time-varying payload. By this way each joint is forced to track the desired input position trajectories. The fuzzy compensator has been tested by numerical simulations on the main three axes of a COMAU SMART 3S industrial manipulator.
Position Trajectory Tracking of Robot Manipulators Via Fuzzy Controller / Salvatore, L; Stasi, Silvio - In: New trends in fuzzy logic II : proceedings of the Second Italian Workshop on Fuzzy Logic, Bari, Italy, 19 - 20 March 1997 / [a cura di] Palma Blonda, Marcello Castellano, Rlfredo Petrosino. - SINGAPORE : World Scientific, 1998. - ISBN 981-02-3309-4. - pp. 39-46
Position Trajectory Tracking of Robot Manipulators Via Fuzzy Controller
STASI, Silvio
1998-01-01
Abstract
A new robust control strategy for robot manipulators is proposed in this paper. The robustness of the control system is achieved by a new fuzzy controller. The controller outputs, that are functions of the position tracking errors and their variations between two running sampled instants, have to compensate the joint dynamics, dynamic coupling among axes, centrifugal, Coriolis, and gravity forces, unknown and time-varying payload. By this way each joint is forced to track the desired input position trajectories. The fuzzy compensator has been tested by numerical simulations on the main three axes of a COMAU SMART 3S industrial manipulator.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
