Uncertainty Analysis of a Two-Link Robot Manipulator under Fuzzy Parameters

Author

Lara-Molina, F.A. ; Koroishi, E.H. ; Steffen, V.

Author_Institution

Fed. Technol. Univ. of Parana (UTFPR), Cornelio Procopio, Brazil

fYear

2014

fDate

18-23 Oct. 2014

Firstpage

1

Lastpage

6

Abstract

This paper aims at analyzing the effect of uncertain parameters on a two-link planar manipulator using a fuzzy dynamic approach. The uncertain parameters are modeled as fuzzy variables and the dynamic simulation of the robot is performed by using fuzzy dynamic analysis. The dynamic model of the manipulator under uncertain payload and friction force is analyzed, additionally, the tracking control performance of the manipulator subject to uncertainties is studied. Numerical simulations illustrate the proposed methodology so that the effect of fuzzy uncertain parameters on the dynamic performance of the robot manipulator is properly described.

Keywords

friction; fuzzy control; fuzzy set theory; manipulator dynamics; position control; uncertain systems; dynamic simulation; friction force; fuzzy dynamic analysis; fuzzy uncertain parameter; fuzzy variables; tracking control; two-link planar manipulator; two-link robot manipulator; uncertainty analysis; Friction; Joints; Manipulator dynamics; Payloads; Uncertainty; Fuzzy sets; Manipulator dynamics; Uncertainty;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics: SBR-LARS Robotics Symposium and Robocontrol (SBR LARS Robocontrol), 2014 Joint Conference on

Conference_Location

Sao Carlos

Print_ISBN

978-1-4799-6710-0

Type

conf

DOI

10.1109/SBR.LARS.Robocontrol.2014.25

Filename

7024087