Fuzzy-PD Controller with Online Gravity Compensation for 3-Dof Manipulator

机译：具有3-Dof机械手在线重力补偿的Fuzzy-PD控制器

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摘要

A fuzzy-PD controller with on-line gravity compensation is proposed in this paper. In order to test on trajectory tracking by the proposed controller, a simulink model of 3-DOF manipulator is modeled using mechanical model in SimMechanics Toolbox of Matlab/Simulink. The simulation results demonstrate the effectiveness of the designed system.

机译：提出了一种具有在线重力补偿的Fuzzy-PD控制器。为了测试所提出的控制器的轨迹跟踪，在Matlab / Simulink的SimMechanics Toolbox中使用机械模型对3-DOF机械手的Simulink模型进行了建模。仿真结果证明了所设计系统的有效性。

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《International Conference on Ubiquitous Robots》|2019年|787-791|共5页
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Yueyuan Zhang; Yudong Zhao; Shikai Zhang; Jangmyung Lee;
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Gravity; Manipulators; Robot kinematics; Mathematical model; Surgery; Torque;

机译：重力;机械手;机器人运动学;数学模型;外科手术;扭矩;

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专利

1. Control of 3-DOF Robotic Manipulator by Neural Network Based Fuzzy-PD [J] . Zhang Shikai, Zhao Yudong, Lee Jangmyung International Journal of Precision Engineering and Manufacturing . 2019,第12期

机译：基于神经网络的模糊PD控制3-DOF机器人操纵器
2. Nonlinear PD controllers with gravity compensation for robot manipulators [J] . C. Yang, J. Huang, J. Ye Cybernetics and information technologies: CIT . 2014,第1期

机译：具有重力补偿的非线性PD控制器，用于机械手
3. PD Manipulator Controller with Fuzzy Adaptive Gravity Compensation [J] . Lei Pan, Peng-Yung Woo Journal of robotic systems . 2000,第2期

机译：具有模糊自适应重力补偿的PD机械臂控制器
4. Fuzzy-PD Controller with Online Gravity Compensation for 3-Dof Manipulator [C] . Yueyuan Zhang, Yudong Zhao, Shikai Zhang, International Conference on Ubiquitous Robots . 2019

机译：具有3-DOF机械手的在线重力补偿的模糊PD控制器
5. Application of gravity compensation to end-point control of flexible structure mounted manipulators: Theory and experiment. [D] . Wongratanaphisan, Theeraphong. 2001

机译：重力补偿在柔性结构机械臂终点控制中的应用：理论和实验。
6. Dynamic Model and Inverse Kinematic Identification of a 3-DOF Manipulator Using RLSPSO [O] . Josias Batista, Darielson Souza, Laurinda dos Reis, 2020

机译：基于RLSPSO的3自由度机械手动力学模型与运动学逆辨识。
7. Controlling the Motion of a Planar 3-DOF Manipulator Using PID Controllers [O] . NGUYEN Thien Van, DUMITRIU Dan N., STROE Ion 2017

机译：使用PID控制器控制平面3-DOF操纵器的运动

Fuzzy-PD Controller with Online Gravity Compensation for 3-Dof Manipulator

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