Position and Velocity Control of AM1 Robot Using Self-Organization Fuzzy Control Technology

자기구성 퍼지 제어기법에 의한 AM1 로봇의 위치 및 속도 제어

  • 김종수 (경남대학교 대학원 기계설계학과) ;
  • 최석창 (창원전문대학 기계설계학과) ;
  • 이종붕 (경남대학교 기계자동화공학부) ;
  • 김치원 (경남대학교 기계자동화공학부) ;
  • 한성현 (경남대학교 기계자동화공학부)
  • Published : 2002.04.01

Abstract

In this paper, it is presented a new technique to the design and real-time implementation of fuzzy control system based-on digital signal processors in order to improve the precision and robustness for system of industrial robot. Fuzzy control has emerged as one of the most active and fruitful areas for research in the applications of fuzzy set theory, especially in the real of industrial processes. In this thesis, a self-organizing fuzzy controller or the industrial robot manipulator with a actuator located at the base is studied. A fuzzy logic composed of linguistic conditional statements is employed by defining the relations of input-output variable of the controller, In the synthesis of a FLC, one of the most difficult problems is the determination of linguistic control rules from the human operators. To overcome this difficult, SOFC is proposed for a hierarchical control structure consisting of basic level and high level that modify control rules.

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