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:Fuzzy Control of a Four-Link Robot
學年93
學期2
發表日期2005/05/05
作品名稱Fuzzy 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
會議名稱第八屆國際自動化科技研討會=The Eighth International Conference on Automation Technology:Advanced Automation for Micro/Nano Technology
會議地點臺中, 臺灣
摘要The objective of this paper is to design a fuzzy controller for a four-link robot to stand up from horizontal surface. There are a structural mechanism, a PC, a tilt sensor and three stepping motors in this robot system. First, design the standing behavior of this robot is assigned by a developed software program in a PC. Then, the robot links are driven by the corresponding motors which execute the control commands of the corresponding controllers. At the same time, the center of gravity (COG) of this robot is calculated by the central computer (PC). If the COG is fallen in the safety area of the robot bottom surface, it will stand up successfully. Otherwise, the robot will fall down easily. In the standing processes, the tilt sensor is applied to detect the horizontal angle of the robot bottom surface. Finally, a fuzzy controller is developed to help this robot to stand up successfully based on the position and postion error of its COG. In the experiment, a desired standing behavior of this robot is assigned first. Then the control commands of the central computer (PC) are sent to the corresponding motors to drive the robot link. After that, the tilt sensors will feedback the horizontal angle of this robot to the central computer. Finally, the central computer will modify the control commands to the corresponding motors again. The experiment will be ended until the robot stand up successfully.
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20050505~20050506
通訊作者
國別中華民國
公開徵稿Y
出版型式紙本
出處第八屆國際自動化科技研討會論文集=Proceedings of the Eighth International Conference on Automation Technology:Advanced Automation for Micro/Nano Technology,1頁
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