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PI+PD type fuzzy logic controlled dual-arm robot in load transfer
Hacioglu, Yuksel (Author), Arslan, Yunus Ziya (Author), Yagiz, Nurkan (Author)

URLURL - Presentation file, Visit http://www.dlib.si/details/URN:NBN:SI:doc-DGVJR04P This link opens in a new window

Abstract
V prispevku je predstavljena PI+PD mehkologična krmilna metoda za sočasno usklajeno gibanje dvoročnega robota za premike bremena. Najprej smo predstavili fizični model dvoročnega robota z bremenom ter izpeljali dinamične enačbe sistema ob upostevanju omejitev. Ker lahko mehkologična krmilja uspešno načrtujemo, tudi če ne poznamo natančnega matematičnega modela sistema, ima ta krmilna metoda prednost v različnih primerih uporabe. PI+PD mehkologični krmilnik smo tako uvedli, da bi dosegli usklajenost dvojnih rok. Da bi preverili varnost delovanja predlaganega krmilnika, smo v sistem uvedli nepričakovane motnje. To so komponente hrupa, ki predstavljajo moteči vrtilni moment, in elastični element, ki nenamerno ovira prvo roko robota. Na koncu smo predstavili numerične rezultate in obravnavali predlagano regulacijsko metodo.

Language:English
Keywords:fuzzy logic, dual-arm robot, cooperative motion control, load transfer
Work type:Not categorized (r6)
Tipology:1.02 - Review Article
Organization:FS - Faculty of Mechanical Engineering
Year:2008
Publisher:= Association of Mechanical Engineers and Technicians of Slovenia et al.
Number of pages:str. 347-355
Numbering:Letn. 54, št. 5
UDC:007.52
ISSN on article:0039-2480
COBISS.SI-ID:10559003 Link is opened in a new window
Views:454
Downloads:135
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Record is a part of a journal

Title:Strojniški vestnik
Shortened title:Stroj. vestn.
Publisher:Zveza strojnih inženirjev in tehnikov Slovenije [et al.], = Association of Mechanical Engineers and Technicians of Slovenia [et al.]
ISSN:0039-2480
COBISS.SI-ID:762116 This link opens in a new window

Secondary language

Language:Slovenian
Title:PI+PD mehkologično krmiljenje dvoročnega robota za premike bremena
Abstract:
This paper presents a PI+PD type fuzzy logic control method for simultaneous cooperative motion of a dual arm robot in load transfer tasks. First, physical model of dual arm robot with the load are presented and dynamic equations of the system are derived while constrained conditions are also taken into account. Since fuzzy logic controllers can successfully be designed even if the exact mathematical model of the system is unknown, this control method is preferred in many applications. Therefore, PI+PD type fuzzy logic controller is introduced to achieve cooperative coordination of dual arms. In order to verify the safety performance of the proposed controller, unexpected disturbances are introduced to the system. These are noise components, which are thought as disturbance torques, and an elastic element unintentionally catching the first robot arm. Finally, numerical results are presented and the performance of the control method is discussed.

Keywords:mehka logika, robotske roke, kontrola gibanja, premik bremen

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