- Tytuł:
- An adaptive fuzzy network for control of manipulating robot dynamic behavior
- Autorzy:
-
Petrović, P.
Milacić, V. - Powiązania:
- https://bibliotekanauki.pl/articles/206872.pdf
- Data publikacji:
- 1998
- Wydawca:
- Polska Akademia Nauk. Instytut Badań Systemowych PAN
- Tematy:
-
model dynamiczny rozmyty
robot
sterowanie adaptacyjne
adaptive fuzzy network
fuzzy dynamic model
impedance control
manipulating robots - Opis:
- 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.
- Źródło:
-
Control and Cybernetics; 1998, 27, 4; 503-519
0324-8569 - Pojawia się w:
- Control and Cybernetics
- Dostawca treści:
- Biblioteka Nauki
Artykuł