Proceedings of the Korean Society of Precision Engineering Conference (한국정밀공학회:학술대회논문집)
- 1995.04b
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- Pages.235-240
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- 1995
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- 2005-8446(pISSN)
로봇 머니퓰레이터의 정상상태 위치오차를 제거할 수 있는 퍼지제어 알고리듬
Abstract
In order to eliminate position errors existing at the steady state in the motion control of robotic manipulators, a new fuzzy control algorithm is proposed using three variables, position error, velocity error and integral of position errors as input variables of the fuzzy controller. Three dimensional look-up table is used toreduce the computational time in real-time control, and a technique reducing the amount of necessary memory is introduced. Simulation and experimental studies show that the position errors at the steady state are decreased more than 90% compared to those of existing fuzzy controller when the proposed fuzzy controller is applied to the 2 axis direct drive SCARA robot manipulator.
Keywords