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The Modular Design and Production of an Intelligent Robot Based on a Closed-Loop Control Strategy

The Modular Design and Production of an Intelligent Robot Based on a Closed-Loop Control Strategy

Published on: October 14, 2017

A robust fuzzy logic controller for robot manipulators with uncertainties.

S Y Yi¹, M J Chung

¹Div. of Mech. & Control Syst., Korea Inst. of Sci. & Technol., Seoul.

IEEE Transactions on Systems, Man, and Cybernetics. Part B, Cybernetics : a Publication of the IEEE Systems, Man, and Cybernetics Society

|January 1, 1997

Summary

This summary is machine-generated.

This study investigates fuzzy logic control (FLC) for robot manipulators, addressing uncertainties. A robust FLC algorithm is proposed and simulated for improved stability and performance in nonlinear dynamic systems.

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Area of Science:

Robotics
Control Systems Engineering
Artificial Intelligence

Background:

Robot manipulators are nonlinear dynamic systems susceptible to uncertainties from load variations and unmodeled dynamics.
Ensuring stability and robustness in robot control is crucial for reliable operation.
Fuzzy Logic Control (FLC) offers a potential approach to manage system uncertainties.

Purpose of the Study:

To investigate the stability and robustness of a class of Fuzzy Logic Control (FLC) for robot manipulators.
To propose a robust FLC algorithm capable of handling structured and unstructured uncertainties.
To evaluate the performance of the proposed control strategy through simulations.

Main Methods:

Analysis of stability and robustness properties of Fuzzy Logic Control (FLC) systems.
Development of a novel robust FLC algorithm tailored for uncertain robot manipulators.
Computer simulations conducted on a two-link robot manipulator model.

Main Results:

The proposed robust FLC demonstrates enhanced stability and robustness in the presence of system uncertainties.
Simulation results validate the effectiveness of the developed control algorithm.
The FLC approach successfully addresses the challenges posed by nonlinear dynamics and uncertainties.

Conclusions:

The robust Fuzzy Logic Control (FLC) is a viable and effective strategy for controlling robot manipulators with uncertainties.
The proposed algorithm offers improved performance and reliability for robotic systems.
Further research can explore the application of this FLC to more complex robotic systems and scenarios.