Adaptive Fuzzy Passivation Control Based on Backstepping Method for Electrically Driven Robotic Manipulators

Keighobadi, Javad; Fateh, Mohammad Mehdi; Chenarani, Hamed

doi:10.1109/icrom.2018.8657516

Cited by 4 publications

(1 citation statement)

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“…There are many special requirements for robotic systems but the demand for robots in industry and manufacturing is constantly increasing i.e. more than 80% of the world`s robots are used in industry, and especially robotic arms are now adaptable, that are able to perform a variety of quick and exact tasks and developing abilities of mobiles and service robots (Keighobadi, 2018;Shaoming, 2017) The subject of research in this paper is robots-manipulators with electric executive devices. One of the most promising trends in designing electromechanical object control systems is the use of the theory of variable structure systems with fuzzy logic.…”

Section: Introductionmentioning

confidence: 99%

Method of Designing Fuzzy System for Planning Robot Manipulator Real-Time Movement in a Static Environment

Nemeiksyte

Osadčuks²

2020

Rural Development 2019

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Under rapid development of science and industry the industrial robots and robotic systems are more widely used in the field of industry. The robots and robotic systems help to manage and master new technological processes efficiently and effectively. In this art icle there was carried out the analysis of the two degree of freedom (DOF) robot arm, which is widely used in practice in order to reveal its functions and to identify its key dynamic parameters using fuzzy logic system. The mathematical model of robot arm dynamics is composed, which includes the mathematical models of the robot arm links twirling motors and the direct positions task model generating the end point of the robot. After the analysis of the robot model the expanded research was performedafter calculating the missing parameters of experimental 2DOF robot arm motors there was created the robot arm model with "V-REP" and "MATLAB Simulink" software packages that allowed to set the control voltages and to observe the changing in time processes of link velocity trajectories. There is calculated designed planar robot end point trajectory deviation from the dynamic trajectory.

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Section: Introductionmentioning

confidence: 99%