淡江大學機構典藏:Item 987654321/96495
English  |  正體中文  |  简体中文  |  Items with full text/Total items : 62797/95867 (66%)
Visitors : 3737329      Online Users : 395
RC Version 7.0 © Powered By DSPACE, MIT. Enhanced by NTU Library & TKU Library IR team.
Scope Tips:
  • please add "double quotation mark" for query phrases to get precise results
  • please goto advance search for comprehansive author search
  • Adv. Search
    HomeLoginUploadHelpAboutAdminister Goto mobile version
    Please use this identifier to cite or link to this item: https://tkuir.lib.tku.edu.tw/dspace/handle/987654321/96495


    Title: Fuzzy Control of a Four-Link Robot
    Authors: Yang, Jr-Syu;Chang, Yu-Seng
    Contributors: 淡江大學機械與機電工程學系
    Date: 2005-05
    Issue Date: 2014-03-07 11:51:23 (UTC+8)
    Abstract: The objective of this paper is to design a fuzzy controller for a four-link robot to stand up from horizontal surface. There are a structural mechanism, a PC, a tilt sensor and three stepping motors in this robot system. First, design the standing behavior of this robot is assigned by a developed software program in a PC. Then, the robot links are driven by the corresponding motors which execute the control commands of the corresponding controllers. At the same time, the center of gravity (COG) of this robot is calculated by the central computer (PC). If the COG is fallen in the safety area of the robot bottom surface, it will stand up successfully. Otherwise, the robot will fall down easily. In the standing processes, the tilt sensor is applied to detect the horizontal angle of the robot bottom surface. Finally, a fuzzy controller is developed to help this robot to stand up successfully based on the position and postion error of its COG. In the experiment, a desired standing behavior of this robot is assigned first. Then the control commands of the central computer (PC) are sent to the corresponding motors to drive the robot link. After that, the tilt sensors will feedback the horizontal angle of this robot to the central computer. Finally, the central computer will modify the control commands to the corresponding motors again. The experiment will be ended until the robot stand up successfully.
    Relation: 第八屆國際自動化科技研討會論文集=Proceedings of the Eighth International Conference on Automation Technology:Advanced Automation for Micro/Nano Technology,1頁
    Appears in Collections:[Graduate Institute & Department of Mechanical and Electro-Mechanical Engineering] Proceeding

    Files in This Item:

    File SizeFormat
    Fuzzy Control of a Four-Link Robot _英文摘要.docx14KbMicrosoft Word122View/Open

    All items in 機構典藏 are protected by copyright, with all rights reserved.


    DSpace Software Copyright © 2002-2004  MIT &  Hewlett-Packard  /   Enhanced by   NTU Library & TKU Library IR teams. Copyright ©   - Feedback