双连杆柔性机械臂的实时模糊逻辑控制

IF 0.9 Q4 ROBOTICS

Journal of Robotics and Mechatronics Pub Date : 2023-01-01 DOI:10.3844/jmrsp.2023.48.62

J. Pedro, Juan-Paul Hynek

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引用次数: 0

摘要

本文研究了一种用于跟踪正弦波轨迹和抑制双连杆柔性机械臂振动的模糊控制器(FLC)的开发。采用拉格朗日的形式化方法和假设模态法(AMM)对TLFM进行了建模。设计并实现了一套由TLFM数学模型、真实TLFM和控制软件组成的三部分装置。将FLC应用于仿真和实际的TLFM中。考虑变载荷质量和变连杆角速度，研究了FLC在建设性和破坏性连杆干涉轨迹情况下的鲁棒性。仿真和实验结果表明了该算法的有效性和鲁棒性。

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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Real-Time Fuzzy Logic Control of Two-Link Flexible Manipulators

: This study investigates the development of a Fuzzy Logic Controller (FLC) for tracking a sinusoidal wave trajectory and suppressing the vibration of a Two Link Flexible Manipulator (TLFM). The TLFM was modeled using Lagrange's formalism and the Assumed Mode Method (AMM). A three-part apparatus consisting of a TLFM mathematical model, a real-world TLFM, and control software was designed and implemented. The FLC was applied to both the simulated and real-world TLFM. The robustness of the FLC was investigated by considering variable payload mass and link angular velocity in both constructive and destructive link interference trajectory cases. Simulation and experimental results show the effectiveness and robustness of the proposed FLC.

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来源期刊

Journal of Robotics and Mechatronics ROBOTICS-

CiteScore

2.20

自引率

36.40%

发文量

134

期刊介绍： First published in 1989, the Journal of Robotics and Mechatronics (JRM) has the longest publication history in the world in this field, publishing a total of over 2,000 works exclusively on robotics and mechatronics from the first number. The Journal publishes academic papers, development reports, reviews, letters, notes, and discussions. The JRM is a peer-reviewed journal in fields such as robotics, mechatronics, automation, and system integration. Its editorial board includes wellestablished researchers and engineers in the field from the world over. The scope of the journal includes any and all topics on robotics and mechatronics. As a key technology in robotics and mechatronics, it includes actuator design, motion control, sensor design, sensor fusion, sensor networks, robot vision, audition, mechanism design, robot kinematics and dynamics, mobile robot, path planning, navigation, SLAM, robot hand, manipulator, nano/micro robot, humanoid, service and home robots, universal design, middleware, human-robot interaction, human interface, networked robotics, telerobotics, ubiquitous robot, learning, and intelligence. The scope also includes applications of robotics and automation, and system integrations in the fields of manufacturing, construction, underwater, space, agriculture, sustainability, energy conservation, ecology, rescue, hazardous environments, safety and security, dependability, medical, and welfare.