Title :
A two layer robot control design
Author :
Abdessemed, Foudil ; Benmahammed, Khier
Author_Institution :
Inst. of Electron., Batna Univ., Algeria
Abstract :
This paper reports some results obtained by a rule-based PID precompensator controller applied to a two joints manipulator. The end effector is made to follow a specified trajectory obtained from the inverse kinematics by an appropriate design of a fuzzy control law. The desired trajectory is determined by the values of the joint variables and the structural kinematics parameters of the manipulator. The performance of the PID controller are exploited here in order to build a fuzzy precompensator that will enhance the conventional PID in order to obtain better performances and results
Keywords :
compensation; control system synthesis; fuzzy control; intelligent control; manipulator kinematics; three-term control; 2-layer robot control design; end effector trajectory; fuzzy control law design; fuzzy precompensator; inverse kinematics; manipulator; rule-based PID precompensator controller; structural kinematics parameters; two-joint manipulator; Adaptive control; Asymptotic stability; Control systems; Electric variables control; End effectors; Fuzzy control; Kinematics; Manipulator dynamics; Robot control; Three-term control;
Conference_Titel :
Fuzzy Systems Proceedings, 1998. IEEE World Congress on Computational Intelligence., The 1998 IEEE International Conference on
Conference_Location :
Anchorage, AK
Print_ISBN :
0-7803-4863-X
DOI :
10.1109/FUZZY.1998.687540