Novel Intelligent-Based Gravity Control for Industrial Robot Arm

다국어 초록 (Multilingual Abstract)

According to this research, a new intelligent-based parallel gravity controller is proposed for industrial robot arm. All model-base conventional controllers are related to dynamic model of systems especially in uncertain systems. To solve this challenge intelligent theory and partly linear methodology are play important role. Fuzzy logic theory is used to estimate the nonlinear dynamic part of robot manipulator and to improve the fuzzy performance PD gravity is used. To estimate the 2 DOF robot manipulator system’s dynamic, proportional plus modified derivative with 7 rules Mamdani inference system is design and applied to modified PD gravity methodology. The proportional coefficient of controller is tuned by new methodology in limitation uncertainties. The results demonstrate that the proposed controller is a partly model-free controllers which works well in certain and partly uncertain system.

목차 (Table of Contents)

• Abstract
• 1. Introduction
• 2. Theory
• 3. Methodology
• 4. Results and Discussion
• 5. Conclusion
• References