Fuzzy logic control of robot with three degrees of freedom: further results
Samo za registrovane korisnike
2009
Konferencijski prilog (Objavljena verzija)
Metapodaci
Prikaz svih podataka o dokumentuApstrakt
In the control system designing process, it is very difficult to determine exact
mathematical model of the controlled object . It is necessary to make some assumptions in
order to avoid model to become „academic“. These assumptions bring error to mathematical
model which is often known as 'modelling error'. Fuzzy logic provides elemination of these
problem, since it doesn't need exact model for forming controller. It only needs input and
output variables, along with their dependance. In this paper is presented forming of the
controlling system for robot with 3DOF, and dependance of variation of number and shape
of fuzzy membership functions on quality of control.
Ključne reči:
fuzzy logic control / robot control / 3 DOF robotIzvor:
Proceedings of 2nd International Congress of Serbian Society of Mechanics (IConSSM 2009), Palić (Subotica), Serbia, 1-5 June 2009, 2009, D-09 1-7Izdavač:
- Belgrade: Serbian Society of Mechanics
Finansiranje / projekti:
- Razvoj bioloških motivisanih kontrolnih i senzorskih sistema i izrada studijskog prototipa nožnog pomagala (RS-MESTD-MPN2006-2010-20152)
Kolekcije
Institucija/grupa
Mašinski fakultetTY - CONF AU - Joka, Marko AU - Lazarević, Mihailo PY - 2009 UR - https://machinery.mas.bg.ac.rs/handle/123456789/5145 AB - In the control system designing process, it is very difficult to determine exact mathematical model of the controlled object . It is necessary to make some assumptions in order to avoid model to become „academic“. These assumptions bring error to mathematical model which is often known as 'modelling error'. Fuzzy logic provides elemination of these problem, since it doesn't need exact model for forming controller. It only needs input and output variables, along with their dependance. In this paper is presented forming of the controlling system for robot with 3DOF, and dependance of variation of number and shape of fuzzy membership functions on quality of control. PB - Belgrade: Serbian Society of Mechanics C3 - Proceedings of 2nd International Congress of Serbian Society of Mechanics (IConSSM 2009), Palić (Subotica), Serbia, 1-5 June 2009 T1 - Fuzzy logic control of robot with three degrees of freedom: further results EP - 7 SP - D-09 1 UR - https://hdl.handle.net/21.15107/rcub_machinery_5145 ER -
@conference{ author = "Joka, Marko and Lazarević, Mihailo", year = "2009", abstract = "In the control system designing process, it is very difficult to determine exact mathematical model of the controlled object . It is necessary to make some assumptions in order to avoid model to become „academic“. These assumptions bring error to mathematical model which is often known as 'modelling error'. Fuzzy logic provides elemination of these problem, since it doesn't need exact model for forming controller. It only needs input and output variables, along with their dependance. In this paper is presented forming of the controlling system for robot with 3DOF, and dependance of variation of number and shape of fuzzy membership functions on quality of control.", publisher = "Belgrade: Serbian Society of Mechanics", journal = "Proceedings of 2nd International Congress of Serbian Society of Mechanics (IConSSM 2009), Palić (Subotica), Serbia, 1-5 June 2009", title = "Fuzzy logic control of robot with three degrees of freedom: further results", pages = "7-D-09 1", url = "https://hdl.handle.net/21.15107/rcub_machinery_5145" }
Joka, M.,& Lazarević, M.. (2009). Fuzzy logic control of robot with three degrees of freedom: further results. in Proceedings of 2nd International Congress of Serbian Society of Mechanics (IConSSM 2009), Palić (Subotica), Serbia, 1-5 June 2009 Belgrade: Serbian Society of Mechanics., D-09 1-7. https://hdl.handle.net/21.15107/rcub_machinery_5145
Joka M, Lazarević M. Fuzzy logic control of robot with three degrees of freedom: further results. in Proceedings of 2nd International Congress of Serbian Society of Mechanics (IConSSM 2009), Palić (Subotica), Serbia, 1-5 June 2009. 2009;:D-09 1-7. https://hdl.handle.net/21.15107/rcub_machinery_5145 .
Joka, Marko, Lazarević, Mihailo, "Fuzzy logic control of robot with three degrees of freedom: further results" in Proceedings of 2nd International Congress of Serbian Society of Mechanics (IConSSM 2009), Palić (Subotica), Serbia, 1-5 June 2009 (2009):D-09 1-7, https://hdl.handle.net/21.15107/rcub_machinery_5145 .