Title

Inverse Dynamics Based Fuzzy Logic Controller for a Single-Link Flexible Manipulator

Document Type

Conference Proceeding

Publication Date

11-5-2005

Publication Title

2005 ASME International Mechanical Engineering Congress and Exposition

Publisher

American Society of Mechanical Engineers

First page number:

841

Last page number:

848

Abstract

This paper presents a novel method for an inverse dynamics based fuzzy logic controller (FLC) of a single-link flexible manipulator. The control action is distributed between two FLCs: a joint angle controller and a tip controller. A method for varying the ranges of the variables of the two controllers as a function of the motion parameters and the inverse dynamics of the system is presented. Simulation results show that the joint trajectory tracking is accomplished and the residual vibration of the flexible link is suppressed.

Keywords

Control equipment; Control theory; Dynamics; Dynamics (Mechanics); Flexible manipulators; Fuzzy logic; Fuzzy systems; Manipulators (Mechanism); Mechanics

Disciplines

Acoustics, Dynamics, and Controls | Applied Mechanics | Controls and Control Theory | Mechanical Engineering

Language

English

Comments

Conference Held: Orlando, Florida, USA, November 5 – 11, 2005

Permissions

Use Find in Your Library, contact the author, or interlibrary loan to garner a copy of the item. Publisher policy does not allow archiving the final published version. If a post-print (author's peer-reviewed manuscript) is allowed and available, or publisher policy changes, the item will be deposited.

Identifier

DOI: 10.1115/IMECE2005-79028; ISBN: 0-7918-4216-9; eISBN: 0-7918-3769-6

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