VSE knjižnice (vzajemna bibliografsko-kataložna baza podatkov COBIB.SI)
  • Fuzzy estimation of the robot load
    Rojko, Andreja ; Jezernik, Karel
    This paper considers the problem of the robot motion control in a presence of the major uncertainties such as the varying load. The proposed adaptive fuzzy system (FLS) is employed to estimate ... dynamic influence of the varying load and also the major part of the mechanism dynamics. Carefully designed membership functions and mles preserve the interpretability of FLS as each rule works toward estimation of the specific part of dynamics. The fuzzy estimator is implemented in the control scheme similar to the computed torque contro. The effectiveness of the approach is demonstrated through the application on the three degree of freedom direct drive robot.
    Vir: Preprints of the 16th IFAC World Congress [Elektronski vir] : Prague, Czech Republic, July 3-8, 2005 ([6] f.)
    Vrsta gradiva - prispevek na konferenci
    Leto - 2005
    Jezik - angleški
    COBISS.SI-ID - 9694998

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