Implementation of a Fuzzy TSK Controller for a Flexible Joint Robot

This paper proposes a fuzzy TSK controller to control a rotary flexible joint manipulator. The flexibility of joint is performed by means of a solenoid nonlinear spring, which is connected between actuator output and joint input in a bilateral connection form to transfer the produced torque; also th...

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Bibliographic Details
Main Authors: M. E. Akbari, M. A. Badamchizadeh, M. A. Poor
Format: Article
Language:English
Published: Wiley 2012-01-01
Series:Discrete Dynamics in Nature and Society
Online Access:http://dx.doi.org/10.1155/2012/279498
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