Journal of the Korean Society for Precision Engineering (한국정밀공학회지)

Korean Society for Precision Engineering (한국정밀공학회)
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Independent point Adaptive Fuzzy Sliding Mode Control of Robot Manipulator

로봇 매니퓰레이터의 독립관절 적응퍼지슬라이딩모드 제어

  • Published : 2002.02.01
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Abstract

Robot manipulator has highly nonlinear dynamics. Therefore the control of multi-link robot arms is a challenging and difficult problem. In this paper an independent joint adaptive fuzzy sliding mode scheme is developed leer control of robot manipulators. The proposed scheme does not require an accurate manipulator dynamic model, yet it guarantees asymptotic trajectory tracking despite gross robot parameter variations. Numerical simulation for independent joint control of a 3-axis PUMA arm will also be included.

Keywords

References

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