원문정보
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초록
영어
Fuzzy tracking control discuss the pure model behavior and ignore the original mathematical model, make the picking robot arm gain accurate perception ability to complex environmental condition, control its velocity and reach smoothly the target position. This paper proposed fuzzy tracking controller algorithm for obtaining the joints position relative to the desired trajectory, which drive stably 3 joints tending to be stable in 1.5s on the conditions of changeable environment, reflecting the strong robustness and stability of the tracking control system, enhancing their positioning and grasping stability to restrain picking
robot arm chattering.
목차
Abstract
1. Introduction
2. Representation of Picking Robot Arm Trajectory Tracking
3. The Picking Arm Fuzzy Control Strategy
3.1. Non- Fuzzy Relation between Posture and the Desired Trajectory
3.2. Picking Arm Fuzzy Controller
3.3. Fuzzy Control Algorithm of Picking Robot Arm
3.4. Precise Fuzzy Quantity
4. Fuzzy tracking Algorithm Design
5. The Simulation and Experimental Analysis
6. Conclusion
Acknowledgements
References
1. Introduction
2. Representation of Picking Robot Arm Trajectory Tracking
3. The Picking Arm Fuzzy Control Strategy
3.1. Non- Fuzzy Relation between Posture and the Desired Trajectory
3.2. Picking Arm Fuzzy Controller
3.3. Fuzzy Control Algorithm of Picking Robot Arm
3.4. Precise Fuzzy Quantity
4. Fuzzy tracking Algorithm Design
5. The Simulation and Experimental Analysis
6. Conclusion
Acknowledgements
References
저자정보
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자료제공 : 네이버학술정보