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

Volume

3

fYear

2001

fDate

2001

Firstpage

2968

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;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 2001. Proceedings 2001 ICRA. IEEE International Conference on

ISSN

1050-4729

Print_ISBN

0-7803-6576-3

Type

conf

DOI

10.1109/ROBOT.2001.933072

Filename

933072