Velocity and Acceleration Estimation with Fuzzy Reasoning and Its Application to Robot Trajectory Conotrol

• Wang Shou Yu

  Faculty of Engineering, Yamagata University

• TAKAHASHI Kazukiyo

  Faculty of Engineering, Yamagata University

• HASHIMOTO Yukio

  Muroran Institute of Technology

• HORI Katsuhiro

  Muroran Institute of Technology

• TSUCHIYA Takeshi

  Faculty of Engineering, Hokkaido University

• NAKATSUYAMA Mikio

  Department of Industrial Design, Akita Municipal Junior College of Art and Craft

Bibliographic Information

Other Title

• 速度・加速度のファジィ推定によるロボットマニピュレータの軌道追従制御
• ソクド カソクド ノ ファジィ スイテイ ニヨル ロボット マニピュレータ ノ

Abstract

In the previous paper, we proposed a digital acceleration control method for trajectory control of robot manipulator from a basic view point for motion process. However, there has been practical difficulties for the direct measurement of the velocity and acceleration of the robot manipulator. In this paper, we propose an estimating method of them based on fuzzy reasoning. A serial-drive robot manipulator is taken as an example to show the effectiveness of the proposed method.

Journal

• Journal of Japan Society for Fuzzy Theory and Systems

  Journal of Japan Society for Fuzzy Theory and Systems 8 (4), 678-686, 1996

  Japan Society for Fuzzy Theory and Intelligent Informatics

Keywords

• Digital acceleration control
• Fuzzy reasoning
• Trajectory tracking control

Details

• CRID: 1390282679316712832
• NII Article ID: 110002940770
• NII Book ID: AN10231506
• DOI: 10.3156/jfuzzy.8.4_86
• ISSN: 24329932
• ISSN: 0915647X
• NDL BIB ID: 4019700
• Web Site: https://ndlsearch.ndl.go.jp/books/R000000004-I4019700
• Web Site: https://www.jstage.jst.go.jp/article/jfuzzy/8/4/8_KJ00002088740/_pdf
• Text Lang: ja
• Data Source:
  • JaLC
  • NDL
  • Crossref
  • CiNii Articles
• Abstract License Flag: Disallowed