Control of a Six-DOF Parallel Link Manipulator with Artificial Rubber Muscles by an Integral Type Stochastic Fuzzy Method.

• Watanabe Keigo

  Graduate School of Science and Engineering, Saga University

• Noda Katsuhiko

  Nippon Telegraph and Telephone Corp

• Kuroishi Masashi

  Daikin Industries, Ltd.

• Nishikawa Masaaki

  Ushio Inc.

• Hirao Takeshi

  Graduate School of Science and Engineering, Saga University

Bibliographic Information

Other Title

• ゴム人工筋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
• ゴム ジンコウキン 6ジユウド パラレルリンクマニピュレータ ノ セキブンガタ

Abstract

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.

Journal

• Journal of the Robotics Society of Japan

  Journal of the Robotics Society of Japan 16 (8), 1061-1068, 1998

  The Robotics Society of Japan

Keywords

• Stochastic Fuzzy Control
• Artificial Rubber Muscle
• Six-DOF Parallel Link Manipulator
• Position and Orientation Control

Details

• CRID: 1390001204724768128
• NII Article ID: 10002864954
• NII Book ID: AN00141189
• DOI: 10.7210/jrsj.16.1061
• ISSN: 18847145
• ISSN: 02891824
• NDL BIB ID: 4604012
• Web Site: https://ndlsearch.ndl.go.jp/books/R000000004-I4604012
• Text Lang: ja
• Data Source:
  • JaLC
  • NDL
  • Crossref
  • CiNii Articles
• Abstract License Flag: Disallowed