An adaptive fuzzy network for control of manipulating robot dynamic behavior
Апстракт
In this paper is considered the problem how to achieve a specific dynamic behavior of robot end-point from the aspect of impedance control and actuation redundancy. The target impedance: is analytically formulated. Due to its complexity, analytical formulation is not suitable for real-time application. To overcome this problem, a simple fuzzy model of isotropic impedance in the form of adaptive fuzzy network is proposed. This model is incorporated in the general form of impedance control law, so that a new fuzzy-impedance control law is obtained. Verification of the proposed control law is provided by computer simulation, taking as example 2-d.o.f. manipulating robot.
Кључне речи:
manipulating robots / impedance control / fuzzy dynamic model / adaptive fuzzy networkИзвор:
Control and Cybernetics, 1998, 27, 4, X-519Колекције
Институција/група
Mašinski fakultetTY - JOUR AU - Petrović, Petar AU - Milačić, Vladimir PY - 1998 UR - https://machinery.mas.bg.ac.rs/handle/123456789/158 AB - In this paper is considered the problem how to achieve a specific dynamic behavior of robot end-point from the aspect of impedance control and actuation redundancy. The target impedance: is analytically formulated. Due to its complexity, analytical formulation is not suitable for real-time application. To overcome this problem, a simple fuzzy model of isotropic impedance in the form of adaptive fuzzy network is proposed. This model is incorporated in the general form of impedance control law, so that a new fuzzy-impedance control law is obtained. Verification of the proposed control law is provided by computer simulation, taking as example 2-d.o.f. manipulating robot. T2 - Control and Cybernetics T1 - An adaptive fuzzy network for control of manipulating robot dynamic behavior EP - 519 IS - 4 SP - X VL - 27 UR - https://hdl.handle.net/21.15107/rcub_machinery_158 ER -
@article{ author = "Petrović, Petar and Milačić, Vladimir", year = "1998", abstract = "In this paper is considered the problem how to achieve a specific dynamic behavior of robot end-point from the aspect of impedance control and actuation redundancy. The target impedance: is analytically formulated. Due to its complexity, analytical formulation is not suitable for real-time application. To overcome this problem, a simple fuzzy model of isotropic impedance in the form of adaptive fuzzy network is proposed. This model is incorporated in the general form of impedance control law, so that a new fuzzy-impedance control law is obtained. Verification of the proposed control law is provided by computer simulation, taking as example 2-d.o.f. manipulating robot.", journal = "Control and Cybernetics", title = "An adaptive fuzzy network for control of manipulating robot dynamic behavior", pages = "519-X", number = "4", volume = "27", url = "https://hdl.handle.net/21.15107/rcub_machinery_158" }
Petrović, P.,& Milačić, V.. (1998). An adaptive fuzzy network for control of manipulating robot dynamic behavior. in Control and Cybernetics, 27(4), X-519. https://hdl.handle.net/21.15107/rcub_machinery_158
Petrović P, Milačić V. An adaptive fuzzy network for control of manipulating robot dynamic behavior. in Control and Cybernetics. 1998;27(4):X-519. https://hdl.handle.net/21.15107/rcub_machinery_158 .
Petrović, Petar, Milačić, Vladimir, "An adaptive fuzzy network for control of manipulating robot dynamic behavior" in Control and Cybernetics, 27, no. 4 (1998):X-519, https://hdl.handle.net/21.15107/rcub_machinery_158 .