Elsevier

Fuzzy Sets and Systems

Volume 124, Issue 2, 1 December 2001, Pages 133-154
Fuzzy Sets and Systems

A stable motion control system for manipulators via fuzzy self-tuning

https://doi.org/10.1016/S0165-0114(00)00061-0Get rights and content

Abstract

In this paper we present a motion control scheme based on a gain scheduling fuzzy self-tuning structure for robot manipulators. We demonstrate, by taking into account the full non-linear and multivariable nature of the robot dynamics, that the overall closed-loop system is uniformly asymptotically stable. Besides the theoretical result, the proposed control scheme shows two practical characteristics. First, the actuators torque capabilities can be taken into account to avoid torque saturation, and second, undesirable effects due to Coulomb friction in the robot joints can be attenuated. Experimental results on a two degrees-of-freedom direct-drive arm show the usefulness of the proposed control approach.

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    Work partially supported by grant CONACyT-SC-980003 and COSNET

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