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Iranian Journal of Fuzzy Systems، جلد ۱۵، شماره ۴، صفحات ۵۷-۷۱
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عنوان انگلیسی CONTROL OF FLEXIBLE JOINT ROBOT MANIPULATORS BY COMPENSATING FLEXIBILITY
چکیده انگلیسی مقاله A flexible-joint robot manipulator is a complex system because it is nonlinear, multivariable, highly coupled along with joint flexibility and uncertainty. To overcome flexibility, several methods have been proposed based on flexible model. This paper presents a novel method for controlling flexible-joint robot manipulators. A novel control law is presented by compensating flexibility to form a rigid robot and then control methods for rigid robots are applied. Feedback linearization and direct adaptive fuzzy control, based on rigid model, are designed with torque control strategy. A decentralized adaptive fuzzy controller is designed because of simplicity and ease of implementation. Effectiveness of the proposed control approach is demonstrated by simulations, using a three-joint articulated flexible-joint robot, driven by permanent magnet dc motors.
کلیدواژه‌های انگلیسی مقاله Interior operator, Interior system, Fuzzy set, Fuzzy logic
نویسندگان مقاله Sareh Ahmadi |
Department of Electrical and Robotic Engineering, Shahrood University Of Technology, Shahrood, Iran

Mohammad Mehdi Fateh |
Department of Electrical and Robotic Engineering, Shahrood University Of Technology, Shahrood, Iran

نشانی اینترنتی http://ijfs.usb.ac.ir/article_4115_387ef7e8e3cb32a730bdf42717a5a0a7.pdf
فایل مقاله اشکال در دسترسی به فایل - ./files/site1/rds_journals/448/article-448-844385.pdf
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زبان مقاله منتشر شده en
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