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A Track Fuzzy Control of Robot Manipulator with Elastic Links

  • Nguyen Hoang MaiEmail author
  • Pham Anh Tuan
Conference paper
Part of the Lecture Notes in Networks and Systems book series (LNNS, volume 69)

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.

Keywords

Robot arm Elastic robot link PID controller Fractional model Fuzzy control Elastic arm Deformation link 

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Copyright information

© Springer Nature Switzerland AG 2020

Authors and Affiliations

  1. 1.Danang University of Science and TechnologyDanang CityVietnam
  2. 2.Daklak Vocational CollegesBuon Ma ThuotVietnam

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