IAES International Journal of Robotics and Automation (IJRA)
Vol 7, No 4: December 2018

Self-tuning Fuzzy Task Space Controller for Puma 560 Robot

Azita Azarfar (Islamic Azad University)

Article Info

Publish Date
01 Dec 2018

Abstract

Since in most robot applications the desired paths are determined in task space or Cartesian space, it is important to control the robot arm in task space. In this paper a fuzzy controller with modifiable scaling factors is proposed to control the robot end-effector in task space. The controller is a fuzzy system with a mechanism to change the scaling factors when the error is bounded under a predetermined value. The controller is designed in joint space and is developed to work space by using inverse Jacobian strategy. The simulations results on Puma 560 robot manipulator illustrate the high performance of presented control method.

Copyrights © 2018




Citation Download
RIS
EndNote, Reference Manager, ProCite
BibTex
Latex, Jabref
Full PDF
389.929 KB
Original Source
Download Original
Google Scholar
Check in Google Scholar
Journal Info
IAES International Journal of Robotics and Automation (IJRA)
Website

Abbrev

IJRA

Publisher

Institute of Advanced Engineering and Science

Subject

Automotive Engineering Electrical & Electronics Engineering

Description

Robots are becoming part of people's everyday social lives and will increasingly become so. In future years, robots may become caretaker assistants for the elderly, or academic tutors for our children, or medical assistants, day care assistants, or psychological counselors. Robots may become our ...