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Rigid model-based fuzzy control of flexible-joint manipulators

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Abstract

This paper considers the application of fuzzy control to achieve global trajectory tracking and active damping of flexible-joint manipulators. A reasonable approach based on the combined computed torque control using rigid robot model and fuzzy control is suggested for flexible-joint manipulators. Sets of ‘four input variables — one output variable’ fuzzy control rules for each actuator respectively, are suggested for the perturbation control. The simulation results show that the transient performance and steady-state accuracy are near those of the feedback linearization approach. The simulation results with payload or joint stiffness variation for the single-link case are also shown to demonstrate the robustness of the control law.

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Authors and Affiliations

  1. Department of Mechanical Engineering, National Chung Hsing University, 402, Taichung, Taiwan, ROC

    Lih-Chang Lin & Chiang-Chuan Chen

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  1. Lih-Chang Lin
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  2. Chiang-Chuan Chen
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Lih-Chang, L., Chiang-Chuan, C. Rigid model-based fuzzy control of flexible-joint manipulators. J Intell Robot Syst 13, 107–126 (1995). https://doi.org/10.1007/BF01254847

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  • DOI: https://doi.org/10.1007/BF01254847

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