Earticle

초록

영어

Robot manipulators are multi inputs-multi outputs, nonlinear and time variant system, therefore control of this system is the main challenge in robotic science. Control robot arm according to linear methodology are often having lots of problems because robotic systems are always highly nonlinear. Design accurate controller for robot manipulator is difficult because some dynamic parameters such as compliance and friction are not well understood and some robot parameters such as inertia are difficult to measure accurately and caused to variation in dynamic response. Fuzzy logic controllers have been applied in many applications. One of the important methods to solve above challenge is design adaptive controller based on fuzzy logic. In this paper, intelligent control of robot arm using Proportional-Integral-Derivative (PID) Adaptive Fuzzy Gain scheduling (PID-AFGS) is design for two degrees of robot arm.

목차

Abstract
 1. Introduction
 2. Theory
 3. Methodology
 4. Results and Discussion
 5. Conclusion
 References

키워드

저자

• Atefeh Chahkoutahi [ Department of Electrical Engineering, Delvar Branch, Islamic Azad University, Delvar, Iran ]
• Mohammad Hossein Rahimi [ Department of Electrical Engineering, Delvar Branch, Islamic Azad University, Delvar, Iran ]
• Sirous Ashja [ Department of Electrical Engineering, Delvar Branch, Islamic Azad University, Delvar, Iran ]
• Mohammad Gholami [ Department of Electrical Engineering, Delvar Branch, Islamic Azad University, Delvar, Iran ]
• Mohammad Reza Moradipour [ Department of Electrical Engineering, Delvar Branch, Islamic Azad University, Delvar, Iran ]

참고문헌

발행기관

간행물

표지보기 관심저널 등록

• 간행물명

  International Journal of Hybrid Information Technology

• 간기

  격월간

• pISSN

  1738-9968

• 수록기간

  2008~2016

• 십진분류

  KDC 505 DDC 605