A two layer robot control design

Author

Abdessemed, Foudil ; Benmahammed, Khier

Author_Institution

Inst. of Electron., Batna Univ., Algeria

Volume

1

fYear

1998

fDate

4-9 May 1998

Firstpage

522

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;

fLanguage

English

Publisher

ieee

Conference_Titel

Fuzzy Systems Proceedings, 1998. IEEE World Congress on Computational Intelligence., The 1998 IEEE International Conference on

Conference_Location

Anchorage, AK

ISSN

1098-7584

Print_ISBN

0-7803-4863-X

Type

conf

DOI

10.1109/FUZZY.1998.687540

Filename

687540