DocumentCode
1997816
Title
A fuzzy logic control scheme for robot manipulators
Author
Lim, C.M. ; Hiyama, T.
Author_Institution
Dept. of Electron. & Comput. Eng., Ngee Ann Polytech., Singapore
fYear
1993
fDate
15-16 Jul 1993
Firstpage
82
Lastpage
87
Abstract
This paper presents a new fuzzy logic control scheme for robot manipulators to achieve trajectory tracking of the joint angles. The proposed control scheme is simple in structure as it only makes use of joint angle measurements and a set of linguistic rules to determine the required control signals. Results from simulation studies show that the proposed fuzzy logic control scheme provides good trajectory tracking performance in the presence of a sudden payload variation
Keywords
fuzzy control; fuzzy logic; position control; robots; tracking; fuzzy logic control; joint angles; linguistic rules; manipulators; membership function; robot; trajectory tracking; Acceleration; Computer science; Fuzzy logic; Goniometers; Manipulator dynamics; Mathematical model; Payloads; Robot control; Torque control; Trajectory;
fLanguage
English
Publisher
ieee
Conference_Titel
Motion Control Proceedings, 1993., Asia-Pacific Workshop on Advances in
Print_ISBN
0-7803-1223-6
Type
conf
DOI
10.1109/APWAM.1993.316192
Filename
316192
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