Abstract
In this work, a fuzzy adaptive state-feedback control is designed for the stabilization of a three-degree of freedom revolute-prismatic-revolute (RPR) robot manipulator. At first, the forward kinem...
Highlights
From the last decades, demands for using the robots have been increasingly growing
Using the Denavit–Hartenberg parameters mentioned in the previous section and Lagrange relations (Spong et al, 2005), the dynamical equations of the robot manipulator could be displayed as follows (Mahmoodabadi & Roshandel, 2019)
The workspace of the robot was studied via driving the forward kinematic equations
Summary
Demands for using the robots have been increasingly growing. The main reason for their usage growth in industries is for increasing the speed and accuracy of producing, as well as decreasing the costs. He received his Ph.D. degree in Mechanical Engineering from the University of Guilan, Rasht, Iran in 2012 He worked for 2 years in the Iranian textile industries. During his research, he was a scholar visitor with Robotics and Mechatronics Group, University of Twente, Enchede, the Netherlands for 6 months. The considered RPR manipulator in this work is typically one of these robots which is applicable for high speed and accurate processes with a limit space. A novel fuzzy adaptive statefeedback control is introduced for stabilization of a three-degree of freedom RPR robot manipulator. To this end, the forward kinematics, dynamical equations, and workspace of the manipulator are investigated.
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