淡江大學機構典藏:Item 987654321/70692
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    題名: Standing Control of a Four-Link Robot
    作者: Yang, Jr-Syu;Chang, Yu-Seng
    貢獻者: 淡江大學機械與機電工程學系
    日期: 2005-10
    上傳時間: 2011-10-23 21:41:04 (UTC+8)
    出版者: Waikoloa Hilton Village
    摘要: The objective of this paper is to design a neural fuzzy controller for a four-link robot to stand up vertically and stably from a flat horizontal surface. There are a structural mechanism, a PC, a tilt sensor and three stepping motors in this robot system. The sequence of standing behavior of this robot is designed and assigned by a developed software program in a PC. The artificial neural network (ANN) and fuzzy control algorithm are applied to develop the standing controller for this robot. The position of the center of gravity (COG) is an important factor to determine the stability of the robot. Finally, the robot links are driven by the corresponding motors to demonstrate its dynamic behaviors successfully and automatically.
    關聯: IEEE International Conference on Systems, Man & Cybernetics (SMC’05), Hawaii, USA, 1, pp.679-684
    DOI: 10.1109/ICSMC.2005.1571225
    顯示於類別:[機械與機電工程學系暨研究所] 會議論文

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