Adaptive fuzzy control of mechanical behavior for a two degree of freedom robotic manipulator
Само за регистроване кориснике
1998
Чланак у часопису (Објављена верзија)
Метаподаци
Приказ свих података о документуАпстракт
Active compliance control of robotic manipulators is useful in making robots perform precision assembly operations. The essential requirement here is mechanical isotropy of the robot end-point. In this paper the problem of how to achieve this kind of mechanical behaviour is considered from aspects of impedance control and fuzzy set theory. The new fuzzy-impedance control law, which is suitable for real-time applications, is proposed for a two degree-of-freedom (2-d.o.f.) robotic manipulator. According to simulation results, the proposed control law can provide approximately isotropic behaviour of the robot end-point in the whole workspace.
Кључне речи:
mechanical isotropy / manipulating robots / impedance control / fuzzy setsИзвор:
Journal of Intelligent Manufacturing, 1998, 9, 4, 369-375Издавач:
- Kluwer Academic Publ, Dordrecht
DOI: 10.1023/A:1008987011755
ISSN: 0956-5515
WoS: 000076905000013
Scopus: 2-s2.0-2442609795
Колекције
Институција/група
Mašinski fakultetTY - JOUR AU - Petrović, Petar AU - Milačić, Vladimir PY - 1998 UR - https://machinery.mas.bg.ac.rs/handle/123456789/166 AB - Active compliance control of robotic manipulators is useful in making robots perform precision assembly operations. The essential requirement here is mechanical isotropy of the robot end-point. In this paper the problem of how to achieve this kind of mechanical behaviour is considered from aspects of impedance control and fuzzy set theory. The new fuzzy-impedance control law, which is suitable for real-time applications, is proposed for a two degree-of-freedom (2-d.o.f.) robotic manipulator. According to simulation results, the proposed control law can provide approximately isotropic behaviour of the robot end-point in the whole workspace. PB - Kluwer Academic Publ, Dordrecht T2 - Journal of Intelligent Manufacturing T1 - Adaptive fuzzy control of mechanical behavior for a two degree of freedom robotic manipulator EP - 375 IS - 4 SP - 369 VL - 9 DO - 10.1023/A:1008987011755 ER -
@article{ author = "Petrović, Petar and Milačić, Vladimir", year = "1998", abstract = "Active compliance control of robotic manipulators is useful in making robots perform precision assembly operations. The essential requirement here is mechanical isotropy of the robot end-point. In this paper the problem of how to achieve this kind of mechanical behaviour is considered from aspects of impedance control and fuzzy set theory. The new fuzzy-impedance control law, which is suitable for real-time applications, is proposed for a two degree-of-freedom (2-d.o.f.) robotic manipulator. According to simulation results, the proposed control law can provide approximately isotropic behaviour of the robot end-point in the whole workspace.", publisher = "Kluwer Academic Publ, Dordrecht", journal = "Journal of Intelligent Manufacturing", title = "Adaptive fuzzy control of mechanical behavior for a two degree of freedom robotic manipulator", pages = "375-369", number = "4", volume = "9", doi = "10.1023/A:1008987011755" }
Petrović, P.,& Milačić, V.. (1998). Adaptive fuzzy control of mechanical behavior for a two degree of freedom robotic manipulator. in Journal of Intelligent Manufacturing Kluwer Academic Publ, Dordrecht., 9(4), 369-375. https://doi.org/10.1023/A:1008987011755
Petrović P, Milačić V. Adaptive fuzzy control of mechanical behavior for a two degree of freedom robotic manipulator. in Journal of Intelligent Manufacturing. 1998;9(4):369-375. doi:10.1023/A:1008987011755 .
Petrović, Petar, Milačić, Vladimir, "Adaptive fuzzy control of mechanical behavior for a two degree of freedom robotic manipulator" in Journal of Intelligent Manufacturing, 9, no. 4 (1998):369-375, https://doi.org/10.1023/A:1008987011755 . .