會議論文
| 學年 | 94 |
|---|---|
| 學期 | 1 |
| 發表日期 | 2005-10-10 |
| 作品名稱 | Standing Control of a Four-Link Robot |
| 作品名稱（其他語言） | |
| 著者 | Yang, Jr-Syu; Chang, Yu-Seng |
| 作品所屬單位 | 淡江大學機械與機電工程學系 |
| 出版者 | Waikoloa Hilton Village |
| 會議名稱 | IEEE International Conference on Systems, Man & Cybernetics (SMC’05) |
| 會議地點 | |
| 摘要 | The objective of this paper is to design a neural fuzzy controller for a four-link robot to stand up vertically and stably from a flat horizontal surface. There are a structural mechanism, a PC, a tilt sensor and three stepping motors in this robot system. The sequence of standing behavior of this robot is designed and assigned by a developed software program in a PC. The artificial neural network (ANN) and fuzzy control algorithm are applied to develop the standing controller for this robot. The position of the center of gravity (COG) is an important factor to determine the stability of the robot. Finally, the robot links are driven by the corresponding motors to demonstrate its dynamic behaviors successfully and automatically. |
| 關鍵字 | |
| 語言 | en |
| 收錄於 | |
| 會議性質 | 國際 |
| 校內研討會地點 | |
| 研討會時間 | 20051010~20051012 |
| 通訊作者 | |
| 國別 | |
| 公開徵稿 | |
| 出版型式 | |
| 出處 | IEEE International Conference on Systems, Man & Cybernetics (SMC’05), Hawaii, USA, 1, pp.679-684 |
| 相關連結 |
機構典藏連結 ( http://tkuir.lib.tku.edu.tw:8080/dspace/handle/987654321/70692 ) |