By Topic

A novel fuzzy logic algorithm for the control of industrial robot manipulators

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

2 Author(s)
Hamdi, M. ; Dept. de Genie Electr. et de Genie Inf., Sherbrooke Univ., Que., Canada ; Lachiver, G.

The purpose of this paper is to investigate the problem of determining the control technique that must be used to ensure robustness and better trajectory tracking for robots. The manipulator system is nonlinear by nature and conventional controllers, whether adaptive or nonadaptive, cannot provide satisfactory results for a wide margin of load variation and speed. The focus of this research is the application of fuzzy logic to design a new control strategy that can easily ensure precision, robustness and good performance in the following of a preplanned trajectory, without requiring neither robot modeling nor a big amount of calculation. A novel fuzzy set control algorithm is presented and simulation results are discussed. The proposed method is applied to control a two-link manipulator handling variable loads and operating under different speeds (high and low). Its superior performance, model and parameter independency, and its relative computational simplicity, make it an attractive controller

Published in:

Electrical and Computer Engineering, 1995. Canadian Conference on  (Volume:1 )

Date of Conference:

5-8 Sep 1995