三连杆平面臂的PD、PID和模糊逻辑控制

Proceedings of the Fourth International Workshop on Robot Motion and Control (IEEE Cat. No.04EX891) Pub Date : 2004-06-17 DOI:10.1109/ROMOCO.2004.240644

E. Eroglu, G. Cansever, I. Küçükdemiral, Burak Dalci

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引用次数: 2

摘要

本文研究了三连杆平面机械臂的控制问题。具体来说，我们采用了PD、PID和模糊控制器。然后我们说明如何设计PD、PID控制器。本文还介绍了如何设计机器人机械手的模糊控制器。我们采用计算转矩法策略来开发我们的控制器。我们试图通过仿真找出每种控制律的优点。仿真结果说明了控制器的性能。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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PD, PID and fuzzy logic control of three link planar arm

In this study we consider the control of a three link planar robot manipulator. Specifically we use PD, PID and fuzzy type controllers. We then illustrate how PD, PID controllers can be designed. We also illustrate how to design a fuzzy logic controller for the robot manipulator. We follow the computed torque method strategy to develop our controllers. We try to find advantages of each control law by simulations. Simulation results are included to illustrate the performance of the controllers.

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Proceedings of the Fourth International Workshop on Robot Motion and Control (IEEE Cat. No.04EX891)

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