Stiffness Control of Robot Manipulators in the Operational Space using Fuzzy Mapping of Dynamic Functions

• Autorzy: Douglas Wildgrube Bertol , Victor Barasuol , Nardênio Almeida Martins , Edson Roberto De Pieri
• Języki publikacji: EN

Abstrakty

EN

In this paper a stiffness control strategy based on the fuzzy mapped nonlinear terms of the robot manipulator dynamic model is proposed. The proposed stiffness controller is evaluated on a research robot manipulator performing a task in the operational space. Tests attempted to achieve fast motion with reasonable accuracy associated with lower computational load compared to the non-fuzzy approach. The stability analysis is presented to conclude about the mapping error influence and to obtain precondition criteria for the gains adjustment to face the trajectory tracking problem. Simulation results that supported the implementation are presented, followed by experiments and results obtained. These tests are conducted on a robot manipulator with SCARA configuration to illustrate the feasibility of this strategy. (original abstract)

Słowa kluczowe

EN

Robotization; Control system; Dynamic test methods; Dynamic model

PL

Robotyzacja; System kontroli; Dynamiczne metody badań; Model dynamiczny

• Czasopismo: Control and Cybernetics
• Rocznik: 2013
• Tom: 42
• Numer: nr 3
• Strony: 639--666

Twórcy

autor

Douglas Wildgrube Bertol

• Universidade Federal de Santa Catarina, Brazil

autor

Victor Barasuol

• Universidade Federal de Santa Catarina, Brazil

autor

Nardênio Almeida Martins

• Universidade Federal de Santa Catarina, Brazil; Universidade Estadual de Maringá, Brazil

autor

Edson Roberto De Pieri

• Universidade Federal de Santa Catarina, Brazil

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