Earticle

초록

영어

The control problem for manipulators is to determine the joint inputs required to case the end-effector execute the commanded motion. The nonminimum phase characteristic of a rigid manipulator makes the design of stable controller that ensures stringent tracking requirements a highly nontrivial and challenging problem. A useful controller in the computed torque family is the gravity controller. To compensate the dynamic parameters, fuzzy logic methodology is used and applied parallel to this method. When the arm is at rest, the only nonzero terms in the dynamic is the gravity. Proposed method can cancels the effects of the terms of gravity. In this case inorder to decrease the error and satteling time, higher gain controller is design and applied to nonlinear system.

목차

Abstract
 1. Introduction
 2. Dynamic Formulation of Robot Manipulator
 3. Control Theory: Computed Torque Controller
 4. Methodology
 5. Results and Discussion
 6. Conclusion
 References

키워드

저자

• Mohammad sadegh Dahideh [ Department of Electrical Engineering, Delvar Branch, Islamic Azad University, Delvar, Iran ]
• Mohammad Najafi [ Department of Electrical Engineering, Delvar Branch, Islamic Azad University, Delvar, Iran ]
• AliReza Zarei [ Department of Electrical Engineering, Delvar Branch, Islamic Azad University, Delvar, Iran ]
• Yaser Barmayeh [ Department of Electrical Engineering, Delvar Branch, Islamic Azad University, Delvar, Iran ]
• Mehran Afshar [ Department of Electrical Engineering, Delvar Branch, Islamic Azad University, Delvar, Iran ]

참고문헌

발행기관

간행물

표지보기 관심저널 등록

• 간행물명

  International Journal of u- and e- Service, Science and Technology

• 간기

  격월간

• pISSN

  2005-4246

• 수록기간

  2008~2016

• 십진분류

  KDC 505 DDC 605