Szczegóły publikacji
Opis bibliograficzny
Fuzzy logic controller for rehabilitation robot manipulator / Agata NAWROCKA, Marcin NAWROCKI, Andrzej KOT // W: ICCC 2014 [Dokument elektroniczny] : proceedings of the 15th International Carpathian Control Conference (ICCC) : Velke Karlovice, Czech Republic, May 28–30, 2014 / eds. Ivo Petráš [et al.]. — Wersja do Windows. — Dane tekstowe. — [Piscataway] : IEEE, cop. 2014. — 1 dysk optyczny. — Dod. ISBN 978-1-4799-3528-4. — e-ISBN: 978-1-4799-3527-7. — S. 379–382. — Wymagania systemowe: Adobe Reader ; napęd CD-ROM. — Bibliogr. s. 382, Abstr.
Autorzy (3)
Słowa kluczowe
Dane bibliometryczne
| ID BaDAP | 81773 |
|---|---|
| Data dodania do BaDAP | 2014-06-17 |
| DOI | 10.1109/CarpathianCC.2014.6843631 |
| Rok publikacji | 2014 |
| Typ publikacji | materiały konferencyjne (aut.) |
| Otwarty dostęp |  |
| Konferencja | International Carpathian Control Conference 2014 |
Abstract
In the paper fuzzy logic controller for rehabilitation robot manipulator is presented. The control object is two degree of freedom robot manipulator. In this case there are two main problems. The first is, that the object is for rehabilitation process so the quality of control system is very important problem. The next problem is with the highly nonlinear dynamics of a robot manipulator. Suggest fuzzy logic control system for that reasons. The model-based Takagi-Sugeno fuzzy control strategy is applied. Described model have two inputs (error and derivation) and one output. The first part of research, was the simulation tests. For this part simulation model was prepare. The dynamic equations was used to build a model in Matlab. During this research the main problem was suitable control quality. It is very important because control quality is connected with rehabilitation process. The control algorithms enable to movement realization and obtain set position given by the physiotherapist. The tests results show that the fuzzy logic control have good control quality.
