MOTION CONTROL STRATEGY OF A ROBOTIC MANIPULATOR WITH FLEXIBLE JOINTS BASED ON FUZZY CONTROL

Karina Assolari Takano¹; Fabian Andres Lara Molina¹; Edson Hideki Koroishi¹

¹ Universidade Tecnológica Federal do Paraná - campus Cornélio Procópio

doi:10.20906/CPS/COB-2015-1350

Resumo

This paper aims at designing a motion control of a two-link planar manipulator with flexible joints to control the joint variables of the motors. This strategy is composed of two complementary control loops: a regulation and tracking control loops. The regulation control is applied to attenuate the vibration on the joints for a desired closed-loop balance at a specific configuration. The tracking control loop regulate the overall motion. The dynamic model of the flexible manipulator with rigid links and flexible joints is derived using the Lagrange-Euler principle. The nonlinear dynamics of the robotic flexible manipulator is approximated with a Takagi-Sugeno fuzzy model. The control strategy is based on the Fuzzy Takagi-Sugeno model as well as the Parallel Distributed Compensation. Simulation results show that the proposed control strategy regulates the position of the robot over a desired position within the workspace.

Palavras-chave: Flexible manipulator; Set-point control; Takagi-Sugeno Fuzzy Model; Robot Contro; Parallel Distributed Compensation