Title :
A fuzzy logic based controller for a three link manipulator
Author :
Pate, Billy ; Langari, Gholamreza
Author_Institution :
Dept. of Mech. Eng., Texas A&M Univ., College Station, TX, USA
Abstract :
This paper addresses the task of producing a generic control algorithm for Cartesian motion of manipulators. The algorithm employs a self organizing fuzzy logic estimator to produce joint space changes given Cartesian error. The main focus of this work is to investigate the performance of the algorithm around the workspace and conclude the feasibility of such an algorithm in industrial applications
Keywords :
fuzzy control; fuzzy logic; manipulators; position control; self-adjusting systems; Cartesian error; Cartesian motion; fuzzy logic based controller; generic control algorithm; joint space; self organizing fuzzy logic estimator; three link manipulator; Control systems; Electrical equipment industry; Fuzzy control; Fuzzy logic; Manipulator dynamics; Nonlinear control systems; Nonlinear equations; Organizing; Robots; Three-term control;
Conference_Titel :
Industrial Fuzzy Control and Intelligent Systems, 1993., IFIS '93., Third International Conference on
Conference_Location :
Houston, TX
Print_ISBN :
0-7803-1485-9
DOI :
10.1109/IFIS.1993.324204
