The development of a fuzzy logic controller that drives a passive compliant manipulator

作     者：De, A Tasch, U 

作者机构：Univ Maryland Baltimore Cty Dept Mech Engn Baltimore MD 21250 USA 

出 版 物：《JOURNAL OF ROBOTIC SYSTEMS》 (野外机器人技术杂志)

年 卷 期：1998年第15卷第12期

页      面：671-680页

核心收录：

学科分类：08[工学] 081101[工学-控制理论与控制工程] 0811[工学-控制科学与工程] 081102[工学-检测技术与自动化装置] 

主　　题：CRANK fuzzy logic controller Computer algorithms Manuscripts 

摘      要：A fuzzy logic controller that drives a crank turning apparatus is presented. A crank turning operation with unknown initial conditions is an example of a contact operation a mechanical manipulator often finds challenging. The apparatus presented in this manuscript uses a fuzzy logic controller that results in a simple structure and a readily realizable algorithm. Computer simulations and experimental studies demonstrate favorable results offering an effective control algorithm. (C) 1998 John Wiley & Sons, Inc.