A fuzzy logic based motion controller for a multi-degree-of-freedom robot arm /
This thesis addresses the task of producing a generic control algorithm for Cartesian motion of manipulators. The algorithm employs a self organizing fuzzy logic estimator to produce joint space changes given Cartesian error. The output from the estimator will be fed to a joint space fuzzy logic c...
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| Format: | Thesis eBook |
| Language: | English |
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[Place of publication not identified] :
[publisher not identified] ;
1993.
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| Online Access: | Link to OAKTrust copy |
| Summary: | This thesis addresses the task of producing a generic control algorithm for Cartesian motion of manipulators. The algorithm employs a self organizing fuzzy logic estimator to produce joint space changes given Cartesian error. The output from the estimator will be fed to a joint space fuzzy logic controller to make the required angular changes. The main interests of the project are to investigate motion within the workspace and near kinematic constraints and to conclude whether or not the estimation scheme is feasible and/or applicable in industrial processes. |
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| Item Description: | "Major subject: Mechanical Engineering". Vita. |
| Physical Description: | xi, 54 leaves : illustrations ; 28 cm. Also available online. |
| Bibliography: | Includes bibliographical references. |