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Designing of fuzzy logic based computed torque controllers for 6 degree of freedom robotic manipulator / Asmaa Mohamed Abdelstar ; Supervised Ahmed Mohamed Kamel , Ahmed Abdelnasser Lasheen

By: Contributor(s): Material type: TextTextLanguage: English Publication details: Cairo : Asmaa Mohamed Abdelstar , 2020Description: 67 P. : charts , facimiles ; 30cmOther title:
  • تصميم وحدات تحكم المبنىة على المنطق الضبابى وعزم الدوران المحسوب لمناول انسان آلى ذى 6 درجات حرية [Added title page title]
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Dissertation note: Thesis (M.Sc.) - Cairo University - Faculty of Engineering - Department of Electrical Power and Machines Summary: Three different control strategies have been developed to control the 6-degree of freedom. Robot manipulator such that it can track the required trajectories. The first is based on the feedback linearization of the manipulator and controller via using a nonlinear control law. This is called a computed-torque-controller (CTC). The second is a Fuzzy controller.The third is a hybrid controller from the first and the second ones.The developed controllers are tested in different cases of uncertainties in the nonlinearity of the manipulator.The third controller has proved its superiority over the other two controllers in case of the motion is either from point to point or oscillatory with small frequency
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Item type Current library Home library Call number Copy number Status Barcode
Thesis Thesis قاعة الرسائل الجامعية - الدور الاول المكتبة المركزبة الجديدة - جامعة القاهرة Cai01.13.07.M.Sc.2020.As.D (Browse shelf(Opens below)) Not for loan 01010110082781000
CD - Rom CD - Rom مخـــزن الرســائل الجـــامعية - البدروم المكتبة المركزبة الجديدة - جامعة القاهرة Cai01.13.07.M.Sc.2020.As.D (Browse shelf(Opens below)) 82781.CD Not for loan 01020110082781000

Thesis (M.Sc.) - Cairo University - Faculty of Engineering - Department of Electrical Power and Machines

Three different control strategies have been developed to control the 6-degree of freedom. Robot manipulator such that it can track the required trajectories. The first is based on the feedback linearization of the manipulator and controller via using a nonlinear control law. This is called a computed-torque-controller (CTC). The second is a Fuzzy controller.The third is a hybrid controller from the first and the second ones.The developed controllers are tested in different cases of uncertainties in the nonlinearity of the manipulator.The third controller has proved its superiority over the other two controllers in case of the motion is either from point to point or oscillatory with small frequency

Issued also as CD

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