Journal of the Korean Society for Precision Engineering (한국정밀공학회지)

Korean Society for Precision Engineering (한국정밀공학회)
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Independent Joint Adaptive Control of Robot Manipulator Using the Sugeno-type of Fuzzy Logic

Sugeno형태 퍼지 논리를 이용한 로봇 매니플레이터의 독립관절 적응제어

  • 김영태 (동국대학교 전기공학과)
  • Published : 2003.06.01
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Abstract

Control of multi-link robot arms is a challenging and difficult problem because of the highly nonlinear dynamics. Independent joint adaptive scheme is developed for control of robot manipulators based on Sugeno-type of fuzzy logic. Fuzzy logic system is used to approximate the coupling forces among the joints, coriolis force, centrifugal force, gravitational force, and frictional forces. The proposed scheme does not require an accurate manipulator dynamic, and it is proved that closed-loop system is asymptotic stable despite the gross robot parameter variations. Numerical simulations for three-axis PUMA robot are included to show the effectiveness of controller.

Keywords

References

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