Title :
Knowledge-based control of mechanical manipulators
Author :
Li Wei ; Zhang Bo
Author_Institution :
Dept. of Comput. Sci., Tsinghua Univ., Beijing, China
Abstract :
This paper presents a knowledge-based control scheme for mechanical manipulators, which consists of a fuzzy logic (FL) controller and a conventional derivative (D) controller. The FL controller is used as a main controller to improve the performance of transient and steady-state behaviors, whereas the D controller is used as an auxiliary controller to ensure a smooth response. The main idea of the paper is to investigate membership functions of linguistic variables to achieve the desired control performance in global region. Simulation studies on a two-link manipulator demonstrate the effectiveness of the proposed scheme.<>
Keywords :
fuzzy control; intelligent control; knowledge based systems; manipulators; derivative controller; fuzzy logic controller; intelligent control; knowledge-based control; linguistic variables; membership functions; two-link manipulator; Control systems; Equations; Fuzzy control; Fuzzy logic; Manipulator dynamics; Mechanical variables control; Niobium; Robots; Three-term control; Torque control;
Conference_Titel :
TENCON '93. Proceedings. Computer, Communication, Control and Power Engineering.1993 IEEE Region 10 Conference on
Conference_Location :
Beijing, China
Print_ISBN :
0-7803-1233-3
DOI :
10.1109/TENCON.1993.320466
