DocumentCode
1829968
Title
Adaptive fuzzy control of robot manipulators
Author
Neo, S.S. ; Er, M.J.
Author_Institution
Sch. of Electr. & Electron. Eng., Nanyang Technol. Inst., Singapore
fYear
1995
fDate
28-29 Sep 1995
Firstpage
724
Lastpage
729
Abstract
In this paper, an adaptive fuzzy robot control algorithm which employs tracking errors of the joint motion to estimate the robot dynamics, which are subsequently used in the control law, is derived. In particular, it requires no feedback of joint accelerations. This adaptive controller does not require the exact robot dynamics but only the boundary of the dynamics. Theoretical results and simulation studies on a two-link robot manipulator show that the adaptive fuzzy robot controller is robust and stable
Keywords
manipulator dynamics; adaptive control; closed loop systems; fuzzy control; joint motion; robot dynamics; robust control; trajectory tracking; two link manipulators; Adaptive control; Error correction; Feedback; Fuzzy control; Manipulator dynamics; Motion control; Motion estimation; Programmable control; Robot control; Tracking;
fLanguage
English
Publisher
ieee
Conference_Titel
Control Applications, 1995., Proceedings of the 4th IEEE Conference on
Conference_Location
Albany, NY
Print_ISBN
0-7803-2550-8
Type
conf
DOI
10.1109/CCA.1995.555838
Filename
555838
Link To Document