Fuzzy Control for Underactuated Manipulator

被引：3
|
作者：
Xia Qixiao [1 ]
Yu, Yue-qing [1 ]
Liu, Qingbo [1 ]
机构：
[1] Beijing Univ Technol, Beijing, Peoples R China
来源：
ADVANCED DESIGN AND MANUFACTURING TECHNOLOGY III, PTS 1-4 | 2013年 / 397-400卷
关键词：
Manipulator; Underactuated; Position control; Fuzzy logic control;
D O I：
10.4028/www.scientific.net/AMM.397-400.1490
中图分类号：
TP39 [计算机的应用];
学科分类号：
081203 ; 0835 ;
摘要：
Control of an underactuated manipulator by fuzzy control method is investigated in this paper. The joint angular errors are directly feedbacked to the inputs of the fuzzy system. The MIMO fuzzy controller is decoupled into sub SISO systems for simplification of the design of the system. Numerical simulation for the position control of a planar 3RR (R) over bar was presented for verification of the proposed method.
引用
收藏
页码：1490 / 1493
页数：4
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