Adaptive fuzzy control of mechanicalbehavior for a two degree-of-freedomrobotic manipulator |
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Authors: | P B PETROVI? V R MILA?I? |
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Affiliation: | (1) Department for Production Engineering, Faculty of Mechanical Engineering, Belgrade University, 27. Marta 80, 11000 Belgrade, Yugoslavia |
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Abstract: | Active compliance control of robotic manipulators is useful in making robots perform precision assembly operations. The essential requirement here is mechanical isotropy of the robot end-point. In this paper the problem of how to achieve this kind of mechanical behaviour is considered from aspects of impedance control and fuzzy set theory. The new fuzzy–impedance control law, which is suitable for real-time applications, is proposed for a two degree-of-freedom (2-d.o.f.) robotic manipulator. According to simulation results, the proposed control law can provide approximately isotropic behaviour of the robot end-point in the whole workspace. |
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Keywords: | Manipulating robots impedance control mechanical isotropy fuzzy sets |
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