Cart (Loading....) | Create Account
Close category search window

Fuzzy logic trajectory control of flexible robot manipulator with rotating prismatic joint

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

4 Author(s)
Botsali, F.M. ; Dept. of Mech. Eng., Univ. of Selcuk, Konya, Turkey ; Kalyoncu, M. ; Tinkir, M. ; Onen, U.

In this study, a fuzzy logic controller is designed in order to use in trajectory control of a robot manipulator. The considered robot manipulator consists of a rotating-prismatic joint housing a sliding flexible arm that carries a concentrated mass at the tip end. The tip end of the flexible arm traces a multi-straight-line path. This study is aimed to use a fuzzy logic controller in controlling the trajectory traced by the tip end of the flexible arm so as to reduce the vibrations induced in the flexible arm. The designed fuzzy controller is aimed to control both the position of the tip end of the flexible robot arm while the tip end traces a multi-straight-line path and the vibrations induced in the flexible arm. Numerical simulations obtained by using a developed computer program are presented and physical trend of obtained numerical results are discussed. The performance of the fuzzy logic control system is evaluated on the basis of the simulation results.

Published in:

Computer and Automation Engineering (ICCAE), 2010 The 2nd International Conference on  (Volume:3 )

Date of Conference:

26-28 Feb. 2010

Need Help?

IEEE Advancing Technology for Humanity About IEEE Xplore | Contact | Help | Terms of Use | Nondiscrimination Policy | Site Map | Privacy & Opting Out of Cookies

A not-for-profit organization, IEEE is the world's largest professional association for the advancement of technology.
© Copyright 2014 IEEE - All rights reserved. Use of this web site signifies your agreement to the terms and conditions.