Composite Fuzzy Logic Control Approach to a Flexible Joint Manipulator

International Journal of Advanced Robotic Systems

关键词: Elastic Joint;    Vibration Control;    Fuzzy Logic;    Input-Shaping;    Collocated and Non-Collocated Control;   

DOI  :  10.5772/52562

学科分类：自动化工程

来源: InTech

【 摘 要 】

The raised complicatedness of the dynamics of a robot manipulator considering joint elasticity makes conventional model-based control strategies complex and hard to synthesize. This paper presents investigations into the development of hybrid intelligent control schemes for the trajectory tracking and vibration control of a flexible joint manipulator. To study the effectiveness of the controllers, a collocated proportional-derivative (PD)-type Fuzzy Logic Controller (FLC) is first developed for the tip angular position control of a flexible joint manipulator. This is then extended to incorporate a non-collocated Fuzzy Logic Controller, a non-collocated proportional-integral-derivative (PID) and an input-shaping scheme for the vibration reduction of the flexible joint system. The positive zero-vibration-derivative-derivative (ZVDD) shaper is designed based on the properties of the system. The implementation results of the response of the flexible joint manipulator with the controllers are presented in time...

【 授权许可】

CC BY