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Implementation of a Fuzzy TSK Controller for a Flexible Joint Robot
Joint Authors
Poor, M. A.
Badamchizadeh, Mohammad Ali
Akbari, M. E.
Source
Discrete Dynamics in Nature and Society
Issue
Vol. 2012, Issue 2012 (31 Dec. 2012), pp.1-21, 21 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2012-10-17
Country of Publication
Egypt
No. of Pages
21
Main Subjects
Abstract EN
This paper proposes a fuzzy TSK controller to control a rotary flexible joint manipulator.
The flexibility of joint is performed by means of a solenoid nonlinear spring, which is connected between actuator output and joint input in a bilateral connection form to transfer the produced torque; also the smooth model of frictions is used for modeling the dynamics of flexible manipulator.
The effect of coulomb friction and also gearbox backlashes is decreased by a pulsation signal as an extra voltage that is added to the control voltage of actuator.
Actuator dynamics is modeled by consideration of saturation mode of armature current.
Experimental results demonstrate that the proposed controller has an ability to control flexible joint manipulator with a good performance.
American Psychological Association (APA)
Akbari, M. E.& Badamchizadeh, Mohammad Ali& Poor, M. A.. 2012. Implementation of a Fuzzy TSK Controller for a Flexible Joint Robot. Discrete Dynamics in Nature and Society،Vol. 2012, no. 2012, pp.1-21.
https://search.emarefa.net/detail/BIM-459833
Modern Language Association (MLA)
Akbari, M. E.…[et al.]. Implementation of a Fuzzy TSK Controller for a Flexible Joint Robot. Discrete Dynamics in Nature and Society No. 2012 (2012), pp.1-21.
https://search.emarefa.net/detail/BIM-459833
American Medical Association (AMA)
Akbari, M. E.& Badamchizadeh, Mohammad Ali& Poor, M. A.. Implementation of a Fuzzy TSK Controller for a Flexible Joint Robot. Discrete Dynamics in Nature and Society. 2012. Vol. 2012, no. 2012, pp.1-21.
https://search.emarefa.net/detail/BIM-459833
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-459833