Title :
A fuzzy compensator for uncertainty of industrial robots
Author :
Chen, Wuwei ; Mills, James K. ; Chu, Jiaxin ; Sun, Dong
Author_Institution :
Dept. of Mech. & Automotive Eng., Hefei Univ. of Technol., China
Abstract :
Addresses the application of a fuzzy logic control system to trajectory tracking control of robot manipulators. In the proposed application, the fuzzy logic control system plays the role of a compensator for the robot system, together with the computed torque control method, to improve trajectory tracking performance of an industrial robot. The proposed control scheme is used to adjust weight parameters of a self-tuning fuzzy logic compensator (SFLC). Experimental results demonstrate the effectiveness of the computed torque and the SFLC scheme to control an industrial CRS Robotics Corporation A460 robot.
Keywords :
compensation; fuzzy control; industrial manipulators; position control; self-adjusting systems; computed torque control method; fuzzy logic control system; fuzzy uncertainty compensator; industrial CRS Robotics Corporation A460 robot; robot manipulators; self-tuning fuzzy logic compensator; trajectory tracking control; weight parameters adjustment; Computer industry; Control systems; Electrical equipment industry; Fuzzy logic; Industrial control; Robot control; Service robots; Torque control; Trajectory; Uncertainty;
Conference_Titel :
Robotics and Automation, 2001. Proceedings 2001 ICRA. IEEE International Conference on
Print_ISBN :
0-7803-6576-3
DOI :
10.1109/ROBOT.2001.933072
