{"title":"机器人机械手的模糊逻辑控制","authors":"S. Banerjee, P. Woo","doi":"10.1109/CCA.1993.348301","DOIUrl":null,"url":null,"abstract":"Position control of a two-link manipulator can be achieved by using a fuzzy logic controller. A fuzzy logic software, FIDE (Fuzzy Inference Development Environment) is used to design and model the controller. Investigation is described that attempts to demonstrate the benefits of using that software for the design and implementation of the controller. A comparative study about the different methods of controller design with different parameters is performed. Finally a scheme is given which could achieve simultaneous control of the two links of the manipulator by using two independent controllers for the two joints.<<ETX>>","PeriodicalId":276779,"journal":{"name":"Proceedings of IEEE International Conference on Control and Applications","volume":"1 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"1993-09-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"48","resultStr":"{\"title\":\"Fuzzy logic control of robot manipulator\",\"authors\":\"S. Banerjee, P. Woo\",\"doi\":\"10.1109/CCA.1993.348301\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"Position control of a two-link manipulator can be achieved by using a fuzzy logic controller. A fuzzy logic software, FIDE (Fuzzy Inference Development Environment) is used to design and model the controller. Investigation is described that attempts to demonstrate the benefits of using that software for the design and implementation of the controller. A comparative study about the different methods of controller design with different parameters is performed. Finally a scheme is given which could achieve simultaneous control of the two links of the manipulator by using two independent controllers for the two joints.<<ETX>>\",\"PeriodicalId\":276779,\"journal\":{\"name\":\"Proceedings of IEEE International Conference on Control and Applications\",\"volume\":\"1 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"1993-09-13\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"48\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"Proceedings of IEEE International Conference on Control and Applications\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/CCA.1993.348301\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"Proceedings of IEEE International Conference on Control and Applications","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/CCA.1993.348301","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 48
摘要
采用模糊控制器实现双连杆机械手的位置控制。采用模糊逻辑软件FIDE (fuzzy Inference Development Environment)对控制器进行设计和建模。调查描述了试图证明使用该软件设计和实现控制器的好处。对不同参数下的控制器设计方法进行了比较研究。最后给出了一种通过对两个关节使用两个独立控制器来实现机械手两个连杆同时控制的方案
Position control of a two-link manipulator can be achieved by using a fuzzy logic controller. A fuzzy logic software, FIDE (Fuzzy Inference Development Environment) is used to design and model the controller. Investigation is described that attempts to demonstrate the benefits of using that software for the design and implementation of the controller. A comparative study about the different methods of controller design with different parameters is performed. Finally a scheme is given which could achieve simultaneous control of the two links of the manipulator by using two independent controllers for the two joints.<>
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