Intelligent control of robotic manipulators with DSP

Author

Teoh, E.K. ; Er, M.H. ; Wong, W.M. ; Wong, T.L.

Author_Institution

Sch. of Electr. & Electron. Eng., Nanyang Technol. Univ, Singapore

Volume

3

fYear

1994

fDate

2-5 Oct 1994

Firstpage

2611

Abstract

Recent advances in computing technology have been providing the fundamental driving force for the sudden increase in interest in intelligent control. In this paper an autonomous self-organizing fuzzy logic controller is formulated and implemented using a DSP-based controller card to control in multiplex three links, namely base, shoulder and elbow, of a revolute joint manipulator. Simulation and online testing results have verified the self-optimizing ability of the process independent controller. The controller presented here can be easily formulated and implemented using low-cost DSP chips

Keywords

digital control; digital signal processing chips; fuzzy control; intelligent control; manipulators; optimal control; self-adjusting systems; DSP-based controller card; fuzzy logic control; intelligent control; revolute joint manipulator; self-optimizing control; self-organizing controller; Automatic testing; Computers; Digital signal processing; Elbow; Fuzzy logic; Intelligent control; Intelligent robots; Manipulators; Process control; Shoulder;

fLanguage

English

Publisher

ieee

Conference_Titel

Systems, Man, and Cybernetics, 1994. Humans, Information and Technology., 1994 IEEE International Conference on

Conference_Location

San Antonio, TX

Print_ISBN

0-7803-2129-4

Type

conf

DOI

10.1109/ICSMC.1994.400265

Filename

400265