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Implementation of a Fuzzy TSK Controller for a Flexible Joint Robot

Author

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  • M. E. Akbari
  • M. A. Badamchizadeh
  • M. A. Poor

Abstract

This paper proposes a fuzzy TSK controller to control a rotary flexible joint manipulator. The flexibility of joint is performed by means of a solenoid nonlinear spring, which is connected between actuator output and joint input in a bilateral connection form to transfer the produced torque; also the smooth model of frictions is used for modeling the dynamics of flexible manipulator. The effect of coulomb friction and also gearbox backlashes is decreased by a pulsation signal as an extra voltage that is added to the control voltage of actuator. Actuator dynamics is modeled by consideration of saturation mode of armature current. Experimental results demonstrate that the proposed controller has an ability to control flexible joint manipulator with a good performance.

Suggested Citation

  • M. E. Akbari & M. A. Badamchizadeh & M. A. Poor, 2012. "Implementation of a Fuzzy TSK Controller for a Flexible Joint Robot," Discrete Dynamics in Nature and Society, Hindawi, vol. 2012, pages 1-21, October.
    • Handle: RePEc:hin:jnddns:279498
    DOI: 10.1155/2012/279498
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    Cited by:

    1. Grzegorz Kaczmarczyk & Radoslaw Stanislawski & Jaroslaw Szrek & Marcin Kaminski, 2024. "Adaptive Sliding Mode Control Based on a Radial Neural Model Applied for an Electric Drive with an Elastic Shaft," Energies, MDPI, vol. 17(4), pages 1-28, February.

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