Implementation of a Fuzzy TSK Controller for a Flexible Joint Robot
This paper proposes a fuzzy TSK controller to control a rotary flexible joint manipulator. The flexibility of joint is performed by means of a solenoid nonlinear spring, which is connected between actuator output and joint input in a bilateral connection form to transfer the produced torque; also th...
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| Format: | Article |
| Language: | English |
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Wiley
2012-01-01
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| Series: | Discrete Dynamics in Nature and Society |
| Online Access: | http://dx.doi.org/10.1155/2012/279498 |
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| _version_ | 1832557084234743808 |
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| author | M. E. Akbari M. A. Badamchizadeh M. A. Poor |
| author_facet | M. E. Akbari M. A. Badamchizadeh M. A. Poor |
| author_sort | M. E. Akbari |
| collection | DOAJ |
| description | This paper proposes a fuzzy TSK controller to control a rotary flexible joint manipulator. The flexibility of joint is performed by means of a solenoid nonlinear spring, which is connected between actuator output and joint input in a bilateral connection form to transfer the produced torque; also the smooth model of frictions is used for modeling the dynamics of flexible manipulator. The effect of coulomb friction and also gearbox backlashes is decreased by a pulsation signal as an extra voltage that is added to the control voltage of actuator. Actuator dynamics is modeled by consideration of saturation mode of armature current. Experimental results demonstrate that the proposed controller has an ability to control flexible joint manipulator with a good performance. |
| format | Article |
| id | doaj-art-364dc522777a42aabe064a0f212600e9 |
| institution | Kabale University |
| issn | 1026-0226 1607-887X |
| language | English |
| publishDate | 2012-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | Discrete Dynamics in Nature and Society |
| spelling | doaj-art-364dc522777a42aabe064a0f212600e92025-02-03T05:43:42ZengWileyDiscrete Dynamics in Nature and Society1026-02261607-887X2012-01-01201210.1155/2012/279498279498Implementation of a Fuzzy TSK Controller for a Flexible Joint RobotM. E. Akbari0M. A. Badamchizadeh1M. A. Poor2Department of Electrical Engineering, Ahar Branch, Islamic Azad University, Ahar 5166614776, IranFaculty of Electrical and Computer Engineering, University of Tabriz, Tabriz, IranDepartment of Electrical and Computer Engineering, University of Alberta, Edmonton, AB, T6G 2V4, CanadaThis paper proposes a fuzzy TSK controller to control a rotary flexible joint manipulator. The flexibility of joint is performed by means of a solenoid nonlinear spring, which is connected between actuator output and joint input in a bilateral connection form to transfer the produced torque; also the smooth model of frictions is used for modeling the dynamics of flexible manipulator. The effect of coulomb friction and also gearbox backlashes is decreased by a pulsation signal as an extra voltage that is added to the control voltage of actuator. Actuator dynamics is modeled by consideration of saturation mode of armature current. Experimental results demonstrate that the proposed controller has an ability to control flexible joint manipulator with a good performance.http://dx.doi.org/10.1155/2012/279498 |
| spellingShingle | M. E. Akbari M. A. Badamchizadeh M. A. Poor Implementation of a Fuzzy TSK Controller for a Flexible Joint Robot Discrete Dynamics in Nature and Society |
| title | Implementation of a Fuzzy TSK Controller for a Flexible Joint Robot |
| title_full | Implementation of a Fuzzy TSK Controller for a Flexible Joint Robot |
| title_fullStr | Implementation of a Fuzzy TSK Controller for a Flexible Joint Robot |
| title_full_unstemmed | Implementation of a Fuzzy TSK Controller for a Flexible Joint Robot |
| title_short | Implementation of a Fuzzy TSK Controller for a Flexible Joint Robot |
| title_sort | implementation of a fuzzy tsk controller for a flexible joint robot |
| url | http://dx.doi.org/10.1155/2012/279498 |
| work_keys_str_mv | AT meakbari implementationofafuzzytskcontrollerforaflexiblejointrobot AT mabadamchizadeh implementationofafuzzytskcontrollerforaflexiblejointrobot AT mapoor implementationofafuzzytskcontrollerforaflexiblejointrobot |