[PDF] Top 20 An Adaptive Fuzzy Controller for Trajectory Tracking of Robot Manipulator

... dynamic robot manipulator involves highly nonlinearities, strong coupling and un- certain system dynamics ...various adaptive control strategies have been adopted for such uncertain systems including ... See full document

... for trajectory tracking of robot manipulator. A robot manipulator is widely used in many industrial ...application.A robot manipulator moves the end effector to the ... See full document

... for trajectory planning and quite a few tracking applications based on positional analysis with real world ...of robot manipulator, so it could be extended for the same ...space ... See full document

... joint trajectory tracking control of an industrial robot, dynamic model based control system methods, such as the computed torque control method under the dynamic model given by (1), can be ... See full document

... the trajectory tracking control. However, this controller is design based on the torque ...proposed controller shows satisfied performance in the case of 2-DOF robot ...mode ... See full document

... snake-like robot could be crawled through destroyed buildings looking for people, while simultaneously bringing communication equipment to anyone trapped in the shattered ...snake robot envisioned by Miller ... See full document

... a Fuzzy tuning Control (FSC-PID) scheme that uses two fuzzy controllers is used to tune the parameters of the two PID ...Each fuzzy controller has two inputs and three outputs used to tune the ... See full document

... car-like robot as well as the existence of unknown external disturbances prompted us to employ the adaptive method to deal with these problematic factors related to the automatic control of such ...two ... See full document

... parallel robot driven by PMAs to achieve accurate attitude tracking and reduce control input ...mode controller with an adaptive fuzzy cerebellar model articulation controller ... See full document

... In this paper, we consider PML model as a piecewise approximation model of the tricycle robot dynamics. The model is built on hyper cubes partitioned in state space and is found to be bilinear (bi-affine) [10], so ... See full document

... mobile robot is a wheeled vehicle capable of moving ...PID controller in many ...simple controller is the correct selection of the values of gains and also values of fractions ...the ... See full document

... desired trajectory, try to reduce the error between the generated trajectory and desired trajectory, as long as attain to zero or very close to ...on trajectory tracking by ... See full document

... dof robot arm, delta robot, and cartesian ...the tracking performance for a predefined pose of an industrial robot, Stäubli ...exoskeleton robot which is a nonlinear system because of ... See full document

... spherical robot, Zhao et all have derived the dynamical model of the spherical robot merely for straight line motions and a PID controller has been proposed for the robot’s motion on straight line ... See full document

... basic fuzzy logic controller (FLC) structure is shown in ...change. Fuzzy control algorithm is demonstrated for tracking ...actual robot coordinates (x, y,) and the coordinates of the ... See full document

... Wall-climbing robot (WCR) is very important in detecting defects in storage tanks and oil pipelines for the petrochemical ...wall-climbing robot is divided into wheel, foot and crawler [1], ...wall-climbing ... See full document

... robot manipulator. In this proposed scheme, the main RWFCMAC controller incorporates the advantages of the wavelet decomposition property, dynamic response with fuzzy CMAC fast learning ... See full document

... Stewart robot used for lower limb ...parallel robot systems using FSMC for constructing a simple controller in practical ...the controller design in practical experiments, the fuzzy ... See full document

... a fuzzy-sliding mode cont- roller by fuzzifiying the sliding surfaces in order to attenuate the chattering ...logic controller by fuzzy logic without the computation of the equivalent cont- rol ... See full document

... Freedom Manipulator Equations that characterize the robot dynamic are represented by a set of coupling differential equations, and, there are terms such as: varying inertia, centrifugal and Coriolis ... See full document