Implementation of a Fuzzy TSK Controller for a Flexible Joint Robot. (17th October 2012)

• Record Type: Journal Article
• Authors: Akbari, M. E.; Badamchizadeh, M. A.; Poor, M. A.
• Other Names: Singh Vimal Academic Editor.
• Is Part Of: Discrete dynamics in nature and society. Volume 2012(2012)
• Publication Date: 2012-10-17
• Subjects: System analysis -- Periodicals; Dynamics -- Periodicals; Chaotic behavior in systems -- Periodicals; Differentiable dynamical systems -- Periodicals; 003.05
• DOI: 10.1155/2012/279498
• Languages: English
• ISSNs: 1026-0226

Abstract

Abstract : 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.