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INVERSE DYNAMICS AND FUZZY REPETITIVE LEARNING FLEXIBLE ROBOT CONTROL
A. Green, J. Z. Sasiadek
Department of Mechanical and Aerospace Engineering,
Carleton University, Ottawa, Ontario, K1S 5B6
Tracking of a square trajectory 12.6 m × 12.6 m by a two-link flexible robot manipulator is performed repetitively for both inverse dynamics control (IDC) and fuzzy logic control (FLC). Repetitive learning inverse dynamics control (RLIDC) achieves no improvement in tracking but repetitive learning fuzzy logic control (RLFLC) achieves greater precision where cyclic tracking enables the fuzzy inference system to self-adapt and further reduce tracking errors.
Keywords: Robotic Manipulators, Inverse Dynamics Control, Fuzzy Control, Learning Algorithms, Trajectories
Session slot T-Tu-M04: Flexible and Nonlinear Robots/Area code 1d : Robotics
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