 |
Conference papers
Uncertainty analysis of a 2-DOF planar parallel robot by means of fuzzy dynamic approach
Abstract : This paper aims at analyzing the effect of uncertain friction in the active joints of a 2-DOF planar parallel robot using a fuzzy dynamic approach. The uncertain parameters of friction are modeled as fuzzy variables and the dynamic response of the robot is computed by using fuzzy dynamic analysis. The dynamics of the robot under uncertain friction including a computed torque position controller is analyzed. Numerical simulations illustrate the proposed methodology in order to describe and quantify the effect of uncertain frictions on the dynamic performance of the parallel robot.
Cited literature [13 references]
https://hal-centralesupelec.archives-ouvertes.fr/hal-01644758
Contributor : Didier Dumur Connect in order to contact the contributor
Submitted on : Thursday, March 12, 2020 - 11:22:17 AM
Last modification on : Saturday, May 1, 2021 - 3:49:09 AM
Long-term archiving on: : Saturday, June 13, 2020 - 2:24:25 PM
Contributor : Didier Dumur Connect in order to contact the contributor
Submitted on : Thursday, March 12, 2020 - 11:22:17 AM
Last modification on : Saturday, May 1, 2021 - 3:49:09 AM
Long-term archiving on: : Saturday, June 13, 2020 - 2:24:25 PM
File
hal-01644758.pdf
Files produced by the author(s)