Indonesian Journal of Electrical Engineering and Informatics (IJEEI)
Vol 6, No 4: December 2018

Adaptive Fuzzy Control of Puma Robot Manipulator in Task Space with Unknown Dynamic and Uncertain Kinematic

Azita Azarfar (Islamic Azad University)

Article Info

Publish Date
25 Dec 2018

Abstract

A In this paper, an adaptive direct fuzzy control system is presented to control the robot manipulator in task space. It is assumed that robot system has unknown dynamic and uncertain kinematic. The control system and adaption mechanism are firstly designed for joint space tracking. Then by using inverse Jacobian strategy, it is generalized for task space. After that, to overcome the problem of Jacobian matrix uncertainty, an improved adaptive control system is designed. All the design steps are illustrated by simulations.

Copyrights © 2018




Citation Download
RIS
EndNote, Reference Manager, ProCite
BibTex
Latex, Jabref
Original Source
Download Original
Google Scholar
Check in Google Scholar
Journal Info
Indonesian Journal of Electrical Engineering and Informatics (IJEEI)
Website

Abbrev

IJEEI

Publisher

IAES Indonesia Section and Partners

Subject

Computer Science & IT Electrical & Electronics Engineering

Description

Indonesian Journal of Electrical Engineering and Informatics (IJEEI) is a peer reviewed International Journal in English published four issues per year (March, June, September and December). The aim of Indonesian Journal of Electrical Engineering and Informatics (IJEEI) is to publish high-quality ...