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Performance Comparison of Different Control Algorithms for Robot Manipulators

Tihomir ŽILIĆ orcid.org/0000-0001-7951-444X ; Fakultet strojarstva i brodogradnja Sveučilišta u Zagrebu
Josip KASAĆ ; Fakultet strojarstva i brodogradnja Sveučilišta u Zagrebu
Mario ESSERT ; Fakultet strojarstva i brodogradnja Sveučilišta u Zagrebu
Branko NOVAKOVIĆ ; Fakultet strojarstva i brodogradnja Sveučilišta u Zagrebu
Željko ŠITUM ; Fakultet strojarstva i brodogradnja Sveučilišta u Zagrebu

Sažetak

In this work are compared performances of five different robot control algorithms. The following controllers under consideration are: PD controller, PID controller, analytical fuzzy controller, classical adaptive controller and adaptive controller based on neural network. The mentioned controllers are used to control two different robot configurations with two rotational degrees of freedom (in horizontal and vertical plane). The basic performances for control algorithms comparisons are: tracking error, rate of convergence, robustness on structural changes of control object, complexity of stability criterion and complexity of implementation.

Ključne riječi

Adaptive control; Control performances; Fuzzy control; Neural networks; Robot control

Hrčak ID:

97950

URI

https://hrcak.srce.hr/97950

Datum izdavanja:

31.10.2012.

Podaci na drugim jezicima: hrvatski

Posjeta: 1.547 *