Intelligent Mechatronic Model Reference Theory for Robot End-effector Control

다국어 초록 (Multilingual Abstract)

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 (Table of Contents)

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