• 主题
高级搜索  >
历史搜索 清空历史
首页> 外文会议>2016 Al-Sadiq International Conference on Multidisciplinary in IT and Communication Techniques Science and Applications >Inverse kinematics solution for robotic manipulators based on fuzzy logic and PD control
【24h】

Inverse kinematics solution for robotic manipulators based on fuzzy logic and PD control

机译：基于模糊逻辑和局部放电控制的机械臂逆运动学解决方案

获取原文
获取原文并翻译 | 示例
页面导航
  • 摘要
  • 著录项
  • 相似文献
  • 相关主题

摘要

This paper presents a new general and fast scheme for solving the inverse kinematics problem (IKP) of the multilink robot arm. The proposed strategy is general as in it is independent of the geometry of the robot arm or its number of degrees of freedom (DOF) and only the forward kinematics is required. The proposed method is a closed-loop strategy in which the IKP is restated as a control problem for a dynamic system and the objective is providing a good trajectory tracking performance. Therefore, PD-like fuzzy controller is used as the controller for this system. Different Cartesian trajectories with different configurations of robotic arm are simulated to demonstrate the effectiveness and generality of the proposed method.
机译：本文提出了一种新的通用且快速的解决方案，用于解决多链接机器人手臂的逆运动学问题（IKP）。所提出的策略是通用的，因为它与机器人手臂的几何形状或其自由度（DOF）的数量无关，并且仅需要正向运动学。所提出的方法是一种闭环策略，其中将IKP重新描述为动态系统的控制问题，并且目标是提供良好的轨迹跟踪性能。因此，类似PD的模糊控制器被用作该系统的控制器。仿真了具有不同机械手臂配置的笛卡尔轨迹，以证明该方法的有效性和普遍性。

著录项

相似文献

  • 外文文献
  • 中文文献
  • 专利
获取原文

客服邮箱：kefu@zhangqiaokeyan.com

京公网安备：11010802029741号 ICP备案号：京ICP备15016152号-6 六维联合信息科技 (北京) 有限公司©版权所有

  • 客服微信

  • 服务号