ゴム人口筋6自由度パラレルリンクマニピュレータの積分型確率ファジィ制御 Control of a Six-Dof Parallel Link Manipulator with Artificial Rubber Muscles by an Integral Type Stochastic Fuzzy Method

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A robust control approach is described for controlling the position and orientation of a six-DOF parallel link manipulator, in which one prismatic link consists of a rubber muscle actuator, so that the controlled object contains several nonlinear factors. The position of the link is also assumed to be measured by using a linear potentiometer. As a result, the associated measurement system contains some measurement noises. The control system is construted using a stochastic fuzzy controller with an integlator so as to remove a tracking error. To design the feedback gains of the stochastic fuzzy controller, a mmn-max control strategy is adopted to the systems, with unknown physical parameters. The effectiveness of the proposed method is illustrated by using some actual experiments.

収録刊行物

  • 日本ロボット学会誌  

    日本ロボット学会誌 16(8), 1061-1068, 1998-11-15 

    The Robotics Society of Japan

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各種コード

  • NII論文ID(NAID)
    10002864954
  • NII書誌ID(NCID)
    AN00141189
  • 本文言語コード
    JPN
  • 資料種別
    ART
  • ISSN
    02891824
  • NDL 記事登録ID
    4604012
  • NDL 雑誌分類
    ZN11(科学技術--機械工学・工業)
  • NDL 請求記号
    Z16-1325
  • データ提供元
    CJP書誌  NDL  J-STAGE 
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