PI+PD type fuzzy logic controlled dual-arm robot in load transfer

1801 Ogledov
1083 Prenosov
Izvoz citacije: ABNT
HACIOGLU, Yuksel ;ARSLAN, Yanus Ziya;YAGIZ, Nurkan .
PI+PD type fuzzy logic controlled dual-arm robot in load transfer. 
Strojniški vestnik - Journal of Mechanical Engineering, [S.l.], v. 54, n.5, p. 347-355, august 2017. 
ISSN 0039-2480.
Available at: <https://www.sv-jme.eu/sl/article/pipd-type-fuzzy-logic-controlled-dual-arm-robot-in-load-transfer/>. Date accessed: 12 jun. 2024. 
doi:http://dx.doi.org/.
Hacioglu, Y., Arslan, Y., & Yagiz, N.
(2008).
PI+PD type fuzzy logic controlled dual-arm robot in load transfer.
Strojniški vestnik - Journal of Mechanical Engineering, 54(5), 347-355.
doi:http://dx.doi.org/
@article{.,
	author = {Yuksel  Hacioglu and Yanus Ziya Arslan and Nurkan  Yagiz},
	title = {PI+PD type fuzzy logic controlled dual-arm robot in load transfer},
	journal = {Strojniški vestnik - Journal of Mechanical Engineering},
	volume = {54},
	number = {5},
	year = {2008},
	keywords = {fuzzy logic; dual-arm robot; cooperative motion control; load transfer; },
	abstract = {This paper presents a PI+PD type fuzzy logic control method for simultaneous cooperative motion of a dual arm robot in load transfer tasks. First, physical model of dual arm robot with the load are presented and dynamic equations of the system are derived while constrained conditions are also taken into account. Since fuzzy logic controllers can successfully be designed even if the exact mathematical model of the system is unknown, this control method is preferred in many applications. Therefore, PI+PD type fuzzy logic controller is introduced to achieve cooperative coordination of dual arms. In order to verify the safety performance of the proposed controller, unexpected disturbances are introduced to the system. These are noise components, which are thought as disturbance torques, and an elastic element unintentionally catching the first robot arm. Finally, numerical results are presented and the performance of the control method is discussed.},
	issn = {0039-2480},	pages = {347-355},	doi = {},
	url = {https://www.sv-jme.eu/sl/article/pipd-type-fuzzy-logic-controlled-dual-arm-robot-in-load-transfer/}
}
Hacioglu, Y.,Arslan, Y.,Yagiz, N.
2008 August 54. PI+PD type fuzzy logic controlled dual-arm robot in load transfer. Strojniški vestnik - Journal of Mechanical Engineering. [Online] 54:5
%A Hacioglu, Yuksel 
%A Arslan, Yanus Ziya
%A Yagiz, Nurkan 
%D 2008
%T PI+PD type fuzzy logic controlled dual-arm robot in load transfer
%B 2008
%9 fuzzy logic; dual-arm robot; cooperative motion control; load transfer; 
%! PI+PD type fuzzy logic controlled dual-arm robot in load transfer
%K fuzzy logic; dual-arm robot; cooperative motion control; load transfer; 
%X This paper presents a PI+PD type fuzzy logic control method for simultaneous cooperative motion of a dual arm robot in load transfer tasks. First, physical model of dual arm robot with the load are presented and dynamic equations of the system are derived while constrained conditions are also taken into account. Since fuzzy logic controllers can successfully be designed even if the exact mathematical model of the system is unknown, this control method is preferred in many applications. Therefore, PI+PD type fuzzy logic controller is introduced to achieve cooperative coordination of dual arms. In order to verify the safety performance of the proposed controller, unexpected disturbances are introduced to the system. These are noise components, which are thought as disturbance torques, and an elastic element unintentionally catching the first robot arm. Finally, numerical results are presented and the performance of the control method is discussed.
%U https://www.sv-jme.eu/sl/article/pipd-type-fuzzy-logic-controlled-dual-arm-robot-in-load-transfer/
%0 Journal Article
%R 
%& 347
%P 9
%J Strojniški vestnik - Journal of Mechanical Engineering
%V 54
%N 5
%@ 0039-2480
%8 2017-08-21
%7 2017-08-21
Hacioglu, Yuksel, Yanus Ziya Arslan, & Nurkan  Yagiz.
"PI+PD type fuzzy logic controlled dual-arm robot in load transfer." Strojniški vestnik - Journal of Mechanical Engineering [Online], 54.5 (2008): 347-355. Web.  12 Jun. 2024
TY  - JOUR
AU  - Hacioglu, Yuksel 
AU  - Arslan, Yanus Ziya
AU  - Yagiz, Nurkan 
PY  - 2008
TI  - PI+PD type fuzzy logic controlled dual-arm robot in load transfer
JF  - Strojniški vestnik - Journal of Mechanical Engineering
DO  - 
KW  - fuzzy logic; dual-arm robot; cooperative motion control; load transfer; 
N2  - This paper presents a PI+PD type fuzzy logic control method for simultaneous cooperative motion of a dual arm robot in load transfer tasks. First, physical model of dual arm robot with the load are presented and dynamic equations of the system are derived while constrained conditions are also taken into account. Since fuzzy logic controllers can successfully be designed even if the exact mathematical model of the system is unknown, this control method is preferred in many applications. Therefore, PI+PD type fuzzy logic controller is introduced to achieve cooperative coordination of dual arms. In order to verify the safety performance of the proposed controller, unexpected disturbances are introduced to the system. These are noise components, which are thought as disturbance torques, and an elastic element unintentionally catching the first robot arm. Finally, numerical results are presented and the performance of the control method is discussed.
UR  - https://www.sv-jme.eu/sl/article/pipd-type-fuzzy-logic-controlled-dual-arm-robot-in-load-transfer/
@article{{}{.},
	author = {Hacioglu, Y., Arslan, Y., Yagiz, N.},
	title = {PI+PD type fuzzy logic controlled dual-arm robot in load transfer},
	journal = {Strojniški vestnik - Journal of Mechanical Engineering},
	volume = {54},
	number = {5},
	year = {2008},
	doi = {},
	url = {https://www.sv-jme.eu/sl/article/pipd-type-fuzzy-logic-controlled-dual-arm-robot-in-load-transfer/}
}
TY  - JOUR
AU  - Hacioglu, Yuksel 
AU  - Arslan, Yanus Ziya
AU  - Yagiz, Nurkan 
PY  - 2017/08/21
TI  - PI+PD type fuzzy logic controlled dual-arm robot in load transfer
JF  - Strojniški vestnik - Journal of Mechanical Engineering; Vol 54, No 5 (2008): Strojniški vestnik - Journal of Mechanical Engineering
DO  - 
KW  - fuzzy logic, dual-arm robot, cooperative motion control, load transfer, 
N2  - This paper presents a PI+PD type fuzzy logic control method for simultaneous cooperative motion of a dual arm robot in load transfer tasks. First, physical model of dual arm robot with the load are presented and dynamic equations of the system are derived while constrained conditions are also taken into account. Since fuzzy logic controllers can successfully be designed even if the exact mathematical model of the system is unknown, this control method is preferred in many applications. Therefore, PI+PD type fuzzy logic controller is introduced to achieve cooperative coordination of dual arms. In order to verify the safety performance of the proposed controller, unexpected disturbances are introduced to the system. These are noise components, which are thought as disturbance torques, and an elastic element unintentionally catching the first robot arm. Finally, numerical results are presented and the performance of the control method is discussed.
UR  - https://www.sv-jme.eu/sl/article/pipd-type-fuzzy-logic-controlled-dual-arm-robot-in-load-transfer/
Hacioglu, Yuksel, Arslan, Yanus, AND Yagiz, Nurkan.
"PI+PD type fuzzy logic controlled dual-arm robot in load transfer" Strojniški vestnik - Journal of Mechanical Engineering [Online], Volume 54 Number 5 (21 August 2017)

Avtorji

Inštitucije

  • Istanbul University, Faculty of Engineering, Department of Mechanical Engineering, Turkey
  • Istanbul University, Faculty of Engineering, Department of Mechanical Engineering, Turkey
  • Istanbul University, Faculty of Engineering, Department of Mechanical Engineering, Turkey

Informacije o papirju

Strojniški vestnik - Journal of Mechanical Engineering 54(2008)5, 347-355
© The Authors, CC-BY 4.0 Int. Change in copyright policy from 2022, Jan 1st.

This paper presents a PI+PD type fuzzy logic control method for simultaneous cooperative motion of a dual arm robot in load transfer tasks. First, physical model of dual arm robot with the load are presented and dynamic equations of the system are derived while constrained conditions are also taken into account. Since fuzzy logic controllers can successfully be designed even if the exact mathematical model of the system is unknown, this control method is preferred in many applications. Therefore, PI+PD type fuzzy logic controller is introduced to achieve cooperative coordination of dual arms. In order to verify the safety performance of the proposed controller, unexpected disturbances are introduced to the system. These are noise components, which are thought as disturbance torques, and an elastic element unintentionally catching the first robot arm. Finally, numerical results are presented and the performance of the control method is discussed.

fuzzy logic; dual-arm robot; cooperative motion control; load transfer;