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Intelligent active force control of a three-link manipulator using fuzzy logic

机译:基于模糊逻辑的三连杆机械手智能主动力控制

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摘要

The paper presents a novel approach to estimate the inertia matrix of a robot arm using a fuzzy logic (FL) mechanism in order to trigger the active force control (AFC) strategy. A comprehensive study is performed on a rigid three-link manipulator subjected to a number of external disturbances. The robustness and effectiveness of the proposed control scheme are investigated considering the trajectory track performance of the robotic arm taking into account the application of external disturbances and that the arm is commanded to describe a reference trajectory given a number of initial and operating conditions. The results show that the FL mechanism used in the study successfully computes appropriate estimated inertia matrix value to execute the control action. The proposed scheme exhibits a high degree of robustness and accuracy as the track error is bounded within an acceptable range of value even under the influence of the introduced disturbances.
机译:本文提出了一种新颖的方法来使用模糊逻辑(FL)机制估算机器人手臂的惯性矩阵,以触发主动力控制(AFC)策略。对刚性三连杆机械手进行了全面的研究,该机械手受到许多外部干扰。考虑到外部干扰的应用,并考虑到机械臂的轨迹性能,研究了提出的控制方案的鲁棒性和有效性。在给定的许多初始条件和操作条件下,命令该臂来描述参考轨迹。结果表明,本研究中使用的FL机制成功地计算出适当的估计惯量矩阵值以执行控制动作。所提出的方案表现出高度的鲁棒性和准确性,因为即使在引入的干扰的影响下,跟踪误差也被限制在可接受的值范围内。

著录项

  • 作者

    Mailah Musa; Low Hook Jong;

  • 作者单位
  • 年度 2003
  • 总页数
  • 原文格式 PDF
  • 正文语种 {"code":"en","name":"English","id":9}
  • 中图分类

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