文章基本信息

标题：Implementation of a Fuzzy TSK Controller for a Flexible Joint Robot
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作者：M. E. Akbari ; M. A. Badamchizadeh ; M. A. Poor 等
期刊名称：Discrete Dynamics in Nature and Society
印刷版ISSN：1026-0226
电子版ISSN：1607-887X
出版年度：2012
卷号：2012
DOI：10.1155/2012/279498
出版社：Hindawi Publishing Corporation
摘要：This paper proposes a fuzzy TSK controller to control a rotary flexible joint manipulator. The flexibility of joint is performed by means of a solenoid nonlinear spring, which is connected between actuator output and joint input in a bilateral connection form to transfer the produced torque; also the smooth model of frictions is used for modeling the dynamics of flexible manipulator. The effect of coulomb friction and also gearbox backlashes is decreased by a pulsation signal as an extra voltage that is added to the control voltage of actuator. Actuator dynamics is modeled by consideration of saturation mode of armature current. Experimental results demonstrate that the proposed controller has an ability to control flexible joint manipulator with a good performance.