書誌事項
- タイトル別名
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- Control of a Six-DOF Parallel Link Manipulator with Artificial Rubber Muscles by an Integral Type Stochastic Fuzzy Method.
- 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
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抄録
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
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- 日本ロボット学会誌
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日本ロボット学会誌 16 (8), 1061-1068, 1998
一般社団法人 日本ロボット学会
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詳細情報 詳細情報について
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- CRID
- 1390001204724768128
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- NII論文ID
- 10002864954
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- NII書誌ID
- AN00141189
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- ISSN
- 18847145
- 02891824
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- NDL書誌ID
- 4604012
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- 本文言語コード
- ja
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- データソース種別
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- JaLC
- NDL
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- CiNii Articles
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- 抄録ライセンスフラグ
- 使用不可