Proceedings of the KIEE Conference (대한전기학회:학술대회논문집)

The Korean Institute of Electrical Engineers (대한전기학회)
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Design of a Fuzzy Logic Controller for the Flexible Manipulator

유연 로봇 매니퓰레이터의 퍼지 제어기 설계

  • Lee, Seung-Jun (Department of Electrical & Control Engineering Hong-Ik University) ;
  • Lee, Kee-Seong (Department of Electrical & Control Engineering Hong-Ik University)
  • 이승준 (홍익대학교 전기제어공학과) ;
  • 이기성 (홍익대학교 전기제어공학과)
  • Published : 1995.07.20
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Abstract

A position Control algorithm of the flexible manipulator is studied. The proposed algorithm is based on a Fuzzy Logic Control(FLC) method using the human's experiences. FLC does not need a dynamic modeling of a flexible manipulator. A Fuzzy logic controller is designed that the end-point of the flexible manipulator tracks the desired trajectory. The control input to the process is determined by the error and variation of error. Simulation result shows a robustness of FLC compared with the PID control algorithm.

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