教師資料查詢 | 類別: 會議論文 | 教師: 楊智旭 YANG JR-SYU (瀏覽個人網頁)

標題:Standing Control of a Four-Link Robot
學年94
學期1
發表日期2005/10/10
作品名稱Standing Control of a Four-Link Robot
作品名稱(其他語言)
著者Yang, Jr-Syu; Chang, Yu-Seng
作品所屬單位淡江大學機械與機電工程學系
出版者Waikoloa Hilton Village
會議名稱IEEE International Conference on Systems, Man & Cybernetics (SMC’05)
會議地點
摘要The objective of this paper is to design a neural fuzzy controller for a four-link robot to stand up vertically and stably from a flat horizontal surface. There are a structural mechanism, a PC, a tilt sensor and three stepping motors in this robot system. The sequence of standing behavior of this robot is designed and assigned by a developed software program in a PC. The artificial neural network (ANN) and fuzzy control algorithm are applied to develop the standing controller for this robot. The position of the center of gravity (COG) is an important factor to determine the stability of the robot. Finally, the robot links are driven by the corresponding motors to demonstrate its dynamic behaviors successfully and automatically.
關鍵字
語言英文
收錄於
會議性質國際
校內研討會地點
研討會時間20051010~20051012
通訊作者
國別
公開徵稿
出版型式
出處IEEE International Conference on Systems, {5} (SMC’05), Hawaii, USA, 1, pp.679-684
相關連結
Google+ 推薦功能,讓全世界都能看到您的推薦!