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| Content Provider | IEEE Xplore Digital Library |
|---|---|
| Author | Lingbo Zhang Funchun Sun Zengqi Sun |
| Copyright Year | 2006 |
| Description | Author affiliation: Dept. of Comput. Sci. & Technol., Tsinghua Univ., Beijing (Lingbo Zhang; Funchun Sun; Zengqi Sun) |
| Abstract | To compensate for the coupling force between the joints of the two-link manipulator, using the tip deflection measured by an optical measurement device with position sensitive detectors (PSD), a decoupling controller based on the cloud model is presented in this paper. In the proposed control strategy, the control experience qualitatively expressed by linguistic is transformed into the control rulers through linguistic atoms and cloud models with normal representation. The Experiment studies on the test-bed of a two-link flexible manipulator are carried out to show the capability and effectiveness of the proposed approach. |
| Starting Page | 2045 |
| Ending Page | 2049 |
| File Size | 1025163 |
| Page Count | 5 |
| File Format | |
| ISBN | 7302139229 |
| DOI | 10.1109/CESA.2006.4281975 |
| Language | English |
| Publisher | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Publisher Date | 2006-10-04 |
| Publisher Place | China |
| Access Restriction | Subscribed |
| Rights Holder | IMACS |
| Subject Keyword | Force measurement Atom optics Clouds Position sensitive particle detectors Optical coupling decoupling control Optical devices Optical control flexible link manipulator Position measurement joint coupling Optical sensors Force control cloud model |
| Content Type | Text |
| Resource Type | Article |
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