Predictive fuzzy controller for robotic motion control
- National Taiwan Inst. of Tech., Taipei (Taiwan, Province of China). Dept. of Mechanical Engineering
A system output prediction strategy incorporated with a fuzzy controller is proposed to manipulate the robotic motion control. Usually, the current position and velocity errors are used to operate the fuzzy logic controller for picking out a corresponding rule. When the system has fast planning speed or time varying behavior, the required tracking accuracy is difficult to achieve by adjusting the fuzzy rules. In order to improve the position control accuracy and system robustness for the industrial application, the current position error in the fuzzy rules look-up table is substituted by the predictive position error of the next step by using the grey predictive algorithm. This idea is implemented on a five degrees of freedom robot. The experimental results show that this fuzzy controller has effectively improve the system performance and achieved the facilitation of fuzzy controller implementation.
- OSTI ID:
- 415554
- Report Number(s):
- CONF-9510203--
- Country of Publication:
- United States
- Language:
- English
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