A robust model-based fuzzy-logic controller for robot manipulators

2002 ◽  
Author(s):  
M.R. Emami ◽  
A.A. Goldenberg ◽  
I.B. Turksen
Keyword(s):  
Fuzzy Logic ◽  
Fuzzy Logic Controller ◽  
Robot Manipulators ◽  
Model Based ◽  
Robust Model

FUZZY LOGIC-BASED INVERSE DYNAMIC MODELLING OF ROBOT MANIPULATORS

2010 ◽  
Vol 34 (1) ◽  
pp. 137-150 ◽  
Author(s):  
Meysar Zeinali ◽  
Leila Notash
Keyword(s):  
Fuzzy Logic ◽  
Dynamic Model ◽  
Parallel Manipulator ◽  
Inverse Dynamics ◽  
Robot Manipulators ◽  
Dynamic Modelling ◽  
Inverse Dynamic ◽  
Model Based ◽  
Uncertain Dynamics ◽  
Modelling Methodology

This paper presents the design and implementation of a systematic fuzzy modelling methodology for the inverse dynamic modelling of robot manipulators. The fuzzy logic modelling methodology is motivated in part by the difficulties encountered in the modelling of complex nonlinear uncertain systems, and by the objective of developing an efficient dynamic model for the real-time model-based control. The methodology is applied to build the fuzzy logic-based inverse dynamic model of a prototyped wire-actuated parallel manipulator with uncertain dynamics. The developed inverse dynamics has been used in a fuzzy model-based adaptive robust controller for the tracking control of the parallel manipulator.

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