Serial robots adhering trajectories

In this paper, we design a controller based on hedge algebras for serial robots. The control rule is given by the linguistic rule-based system. The goal is to accurately control the moving robot arm which adheres given trajectories. Optimization of fuzzy parameters for the controller is done by genetic algorithms. The system has been simulated on the Matlab-Simulink software. The simulation results show that the tracking error is very small. Moreover, the controller worked well with correct control quality.

19p nguathienthan9 08-12-2020 12 2   Download