Hybrid controller for adaptive link control of industrial robots

被引：1
|
作者：
Karner, J [1 ]
Janocha, H [1 ]
机构：
[1] Univ Saarland, Lab Proc Automat, D-66041 Saarbrucken, Germany
来源：
JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS | 1997年 / 20卷 / 2-4期
关键词：
knowledge based control; adaptive control systems; hybrid control; fuzzy logic;
D O I：
10.1023/A:1007940906237
中图分类号：
TP18 [人工智能理论];
学科分类号：
081104 ; 0812 ; 0835 ; 1405 ;
摘要：
This paper presents a new adaptation mechanism for a cascaded position controller. The cascaded position controller consists of P.I.D. controllers the parameters of which;Ire changed by a fuzzy lo ic adaptation mechanism. The proposed fuzzy logic adaptation mechanism is tested using the six-degree-of-freedom-robot RV 15, manufactured by Reis Robotics. Using the fuzzy logic adaptation mechanism, the cartesian position error of the tool center point can be significantly reduced by 50 %. Another enhancement of the dynamic behaviour, which can be achieved by the fuzzy logic adaptation mechanism, is to lessen the influence of different loads on the cartesian position error.
引用
收藏
页码：93 / 104
页数：12
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