Earticle

초록

영어

According to this research, a new intelligent-based parallel gravity controller is proposed for industrial robot arm. All model-base conventional controllers are related to dynamic model of systems especially in uncertain systems. To solve this challenge intelligent theory and partly linear methodology are play important role. Fuzzy logic theory is used to estimate the nonlinear dynamic part of robot manipulator and to improve the fuzzy performance PD gravity is used. To estimate the 2 DOF robot manipulator system’s dynamic, proportional plus modified derivative with 7 rules Mamdani inference system is design and applied to modified PD gravity methodology. The proportional coefficient of controller is tuned by new methodology in limitation uncertainties. The results demonstrate that the proposed controller is a partly model-free controllers which works well in certain and partly uncertain system.

목차

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

키워드

저자

• Abdol Reza Babakhani [ Department of Mechanical Engineering, Delvar Branch, Islamic Azad University, Delvar, Iran ]
• Esmail Moradi [ Department of Mechanical Engineering, Delvar Branch, Islamic Azad University, Delvar, Iran ]
• Mohammad Salooki [ Department of Mechanical Engineering, Delvar Branch, Islamic Azad University, Delvar, Iran ]
• Rouholla Fakhraie [ Department of Mechanical 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