Abstract
The problem of robot control with regard to elasticity of the arms is very meaningful to the reality. It enables the saving of fabrication materials, maximizes the machine’s bearing capacity while maintaining precise control and protects the arms from mechanical damage. So there are many studies on this mode of control. This is a strong nonlinear object, so it should describe the elastic arm exactly. This article presents a method of control elastic robot links with fractional model. Use fuzzy controller combined with PID to compensate elasticity. The simulation results confirm the correctness of the method.
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Mai, N.H., Tuan, P.A. (2020). A Track Fuzzy Control of Robot Manipulator with Elastic Links. In: Arai, K., Bhatia, R. (eds) Advances in Information and Communication. FICC 2019. Lecture Notes in Networks and Systems, vol 69. Springer, Cham. https://doi.org/10.1007/978-3-030-12388-8_64
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DOI: https://doi.org/10.1007/978-3-030-12388-8_64
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