Open document
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General information |
| Author |
Loudini, Malik |
| Published |
InTech Open Access Publisher, 2013
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| Abstract |
In this paper, precise control of the end‐point
position of a planar single‐link elastic manipulator robot
is discussed. The Timoshenko beam theory (TBT) has
been used to characterize the structural link elasticity
including important damping mechanisms. A suitable
nonlinear model is derived based on the Lagrangian
assumed modes method.
Elastic link manipulators are classified as systems
possessing highly complex dynamics. In addition, the
environment in which they operate may have a lot of
disturbances. These give rise to special problems that
may be solved using intelligent control techniques.
The application of two advanced control strategies based
on fuzzy set theory is investigated. The first closed‐loop
control scheme to be applied is the standard
Proportional‐Derivative (PD) type fuzzy logic controller
(FLC), also known as PD‐type Mamdani’s FLC
(MPDFLC). Then, a genetic algorithm (GA) is used to
optimize the MPDFLC parameters with innovative
tuning procedures. Both the MPDFLC and the GA
optimized FLC (GAOFLC) are implemented and tested to
achieve a precise control of the manipulator end‐point.
The performances of the adopted closed‐loop intelligent
control strategies are examined via simulation
experiments. |
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International Journal of Advanced Robotic Systems
Author: Ottaviano, Erika; Ceccarelli, Marco; Husty, Manfred; Yu, Sung-Hoon; Kim, Yong-Tae; Park, Chang-Woo; Hyun, Chang-Ho; Chen, Xiulong; Feng, Weiming; Sun, Xianyang; Gao, Qing; Grigorescu, Sorin M.; Pozna, Claudiu; Liu, Wanli; Zhankui, Wang; Guo, Meng; Fu, Guoyu; Zhang, Jin; Chen, Wenyuan; Peng, Fengchao; Yang, Pei; Chen, Chunlin; Ding, Rui; Yu, Junzhi; Yang, Qinghai; Tan, Min; Polden, Joseph; Pan, [...]
Published: 2004
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