By Topic

Gradient-descent based trajectory planning for regulation of a two-link flexible robotic arm

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)
Oke, G. ; Dept. of Electr. & Electron. Eng., Bogazici Univ., Istanbul, Turkey ; Istefanopulos, Y.

In the control of flexible manipulators, most work in the literature concentrates on the suppression of link deformations. In this study, the aim is not to suppress the deflections, but to calculate joint angles to minimize the tip position error. A gradient descent method is utilized off-line for the trajectory planning of a two-link flexible manipulator under gravity. Fuzzy logic control with gravity compensation is applied for the position control of the manipulator where the reference inputs are the values of the joint angles as determined by the trajectory planning procedure. Simulations have been carried out to show the performance of both the trajectory planning method and of the fuzzy controller in a regulation problem. Results are illustrated both in the joint space and in the operational space

Published in:

Advanced Intelligent Mechatronics, 2001. Proceedings. 2001 IEEE/ASME International Conference on  (Volume:2 )

Date of Conference:

2001