An adaptive fuzzy network for control of manipulating robot dynamic behavior

• Autorzy: Petrović P. , Milacić V.
• Języki publikacji: EN

Abstrakty

EN

In this paper is considered the problem how to achieve a specific dynamic behavior of robot end-point from the aspect of impedance control and actuation redundancy. The target impedance is analytically formulated. Due to its complexity, analytical formulation is not suitable for real-time application. To overcome this problem, a simple fuzzy model of isotropic impedance in the form of adaptive fuzzy network is proposed. This model is incorporated in the general form of impedance control law, so that a new fuzzy-impedance control law is obtained. Verification of the proposed control law is provided by computer simulation, taking as example 2-d.o.f. manipulating robot.

Słowa kluczowe

EN

adaptive fuzzy network; fuzzy dynamic model; impedance control; manipulating robots

PL

model dynamiczny rozmyty; robot; sterowanie adaptacyjne

• Wydawca: Systems Research Institute, Polish Academy of Sciences
• Czasopismo: Control and Cybernetics
• Rocznik: 1998
• Tom: Vol. 27, no 4
• Strony: 503--519
• Opis fizyczny: Bibliogr. 12 poz.,Rys., wykr.,

Twórcy

autor

Petrović P.

autor

Milacić V.