{"title":"A fuzzy control algorithm reducing steady-state position errors of robotic manipulators","authors":"C. Kang, Hee-Sung Kwak","doi":"10.1109/AMC.1996.509391","DOIUrl":null,"url":null,"abstract":"Conventional fuzzy controllers for the motion tracking of robotic manipulators utilize two input variables, position errors and velocity errors, to deal with highly nonlinear and time-varying dynamics associated with robot motion, and position errors usually remain at steady state conditions. In order to eliminate the steady state position errors, a new fuzzy control algorithm is proposed using three input variables of the fuzzy controller: position error, velocity error, and integral of position errors. Simulation and experiment studies show that the position errors at steady state are decreased more than 90% compared to those of conventional fuzzy control when the proposed fuzzy control is applied to the 2-axis direct-drive SCARA robot.","PeriodicalId":360541,"journal":{"name":"Proceedings of 4th IEEE International Workshop on Advanced Motion Control - AMC '96 - MIE","volume":"4 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"1996-03-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"3","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"Proceedings of 4th IEEE International Workshop on Advanced Motion Control - AMC '96 - MIE","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/AMC.1996.509391","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 3
Abstract
Conventional fuzzy controllers for the motion tracking of robotic manipulators utilize two input variables, position errors and velocity errors, to deal with highly nonlinear and time-varying dynamics associated with robot motion, and position errors usually remain at steady state conditions. In order to eliminate the steady state position errors, a new fuzzy control algorithm is proposed using three input variables of the fuzzy controller: position error, velocity error, and integral of position errors. Simulation and experiment studies show that the position errors at steady state are decreased more than 90% compared to those of conventional fuzzy control when the proposed fuzzy control is applied to the 2-axis direct-drive SCARA robot.