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수정된 입력 변수를 이용한 퍼지제어기에 의한 다관절 로봇제어

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Alternative Title
Control of a Multi-Link Robot with Fuzzy Logic using Modified Input Parameters
Abstract
다관절 로봇을 제어하기 위하여 새로운 퍼지제어기를 제안한다. 제안된 퍼지제어기는 각각의 위치오차및 속도오차와 SPR전달함수를 가진 수정된 위치오차및 속도오차를 사용한다. 2관절 로봇의 모의 전산 실험결과는 미분-비례 제어기와 ?痴ㅅ프? 않고 동일한 규칙을 사용하는 퍼지제어기보다 본 연구에서 제안한 퍼지제어기가 궤적 추적성능이 월등함을 보였다.
A fuzzy controller is proposed to control a multi-link robot. The controller uses modifided position errors and velocity errors, which have a strictly positive real transfer function to the position errors and the velocity errors respectively. Simulation results for 2 link robot show excellent trajectory tracking performance compared with the performance of a PD controller and a conventional Fuzzy controller.
A fuzzy controller is proposed to control a multi-link robot. The controller uses modifided position errors and velocity errors, which have a strictly positive real transfer function to the position errors and the velocity errors respectively. Simulation results for 2 link robot show excellent trajectory tracking performance compared with the performance of a PD controller and a conventional Fuzzy controller.
Author(s)
임영순강성웅이수한
Issued Date
1995
Type
Research Laboratory
URI
https://oak.ulsan.ac.kr/handle/2021.oak/3840
http://ulsan.dcollection.net/jsp/common/DcLoOrgPer.jsp?sItemId=000002024352
Alternative Author(s)
Lim,Young SoonKang,Sung WoungLee,Soo,Han
Publisher
공학연구논문집
Language
kor
Rights
울산대학교 저작물은 저작권에 의해 보호받습니다.
Citation Volume
26
Citation Number
2
Citation Start Page
181
Citation End Page
191
Appears in Collections:
Research Laboratory > Engineering Research
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