کد مقاله کد نشریه سال انتشار مقاله انگلیسی نسخه تمام متن
1759822 1019299 2007 10 صفحه PDF دانلود رایگان
عنوان انگلیسی مقاله ISI
Fuzzy auto-tuning PID control of multiple joint robot driven by ultrasonic motors
موضوعات مرتبط
مهندسی و علوم پایه فیزیک و نجوم آکوستیک و فرا صوت
پیش نمایش صفحه اول مقاله
Fuzzy auto-tuning PID control of multiple joint robot driven by ultrasonic motors
چکیده انگلیسی

A three-joint robot is directly driven by ultrasonic motors with advantage of high torque at low speed. The speed of the ultrasonic motors is actually controlled by regulating their operating frequencies. The kinematic and kinetic analyses of the robot have been carried out using Adams. Due to the lack of accurate control model of ultrasonic motors and the time-varying motor parameters, a fuzzy auto-tuning proportional integral derivative (PID) controller for the robot is experimented, in which a simple method to tune parameters of the PID type fuzzy controller on-line is developed and a new position–speed feedback strategy is proposed and implemented. The effectiveness of the proposed control strategy and fuzzy logic controller is verified by experimental investigation.

ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: Ultrasonics - Volume 46, Issue 4, November 2007, Pages 303–312
نویسندگان
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