A Design of Uncertainty Robot Manipulators using Fuzzy Algorithms 


Vol. 33,  No. 2, pp. 63-69, Feb.  2008


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  Abstract

To control robot manipulators with model uncertainties and disturbances, nonlinear robust controllers are appropriate. Those robust controllers often require high torques so that actuating joint motors can face torque saturation. In this paper, a new scheme is presented to achieve stable path tracking in the presence of torque saturation. The scheme generates a new stable path based on the initial desired path using a fuzzy logic. As a result of the study by using computer simulation, we identified that improvement control evaluation more in case of connecting proposed algorithm using by fuzzy robust controller than conventional combined robust controller to the an uncertain two degree-of-freedom underwater robot manipulator.

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  Cite this article

[IEEE Style]

S. Choi, J. Park, S. Lee, "A Design of Uncertainty Robot Manipulators using Fuzzy Algorithms," The Journal of Korean Institute of Communications and Information Sciences, vol. 33, no. 2, pp. 63-69, 2008. DOI: .

[ACM Style]

Su-Yeol Choi, Jae-Hyung Park, and Sang-Kwan Lee. 2008. A Design of Uncertainty Robot Manipulators using Fuzzy Algorithms. The Journal of Korean Institute of Communications and Information Sciences, 33, 2, (2008), 63-69. DOI: .

[KICS Style]

Su-Yeol Choi, Jae-Hyung Park, Sang-Kwan Lee, "A Design of Uncertainty Robot Manipulators using Fuzzy Algorithms," The Journal of Korean Institute of Communications and Information Sciences, vol. 33, no. 2, pp. 63-69, 2. 2008.

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pISSN : 1226 - 4717
eISSN : 2287 - 3880