A practical robust fuzzy strategy for position control of an industrial robot

A practical robust fuzzy strategy for position control of an industrial robot

Summary form only given, as follows. This paper presents an experimental study of fuzzy logic control based on the variable structure strategy (VSC) when applied to an industrial robot. The robustness and stability of the fuzzy logic control is based on Lyapunov theory. A description of an industria...

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Hauptverfasser: Coelho, A.A.R., De Pieri, E.R., Vargas, F.J.T., Santos, C.H.F., Samar, R.R.
Format: Tagungsbericht
Sprache:eng
Schlagworte:
Fuzzy control
Fuzzy logic
Industrial control
Manipulators
Position control
Robot control
Robust control
Service robots
Sliding mode control
Uncertainty
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Zusammenfassung:Summary form only given, as follows. This paper presents an experimental study of fuzzy logic control based on the variable structure strategy (VSC) when applied to an industrial robot. The robustness and stability of the fuzzy logic control is based on Lyapunov theory. A description of an industrial SCARA robot with open control architecture, the operational system Oberon 3 and friction compensation is presented. Experimental results with trajectory control including implementation details are presented.
DOI:10.1109/ICCA.2002.1229437