主催: The Society of Instrument and Control Engineers
共催: IEEE/Industiral Electronic Society, IEEE/Robotics and Automation Society, IEEE/Control System Society
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We present a fuzzy-logic based model for every hydraulic actuator of a parallel link manipulator. Construction of a fuzzy model rule base is composed of two stages; the first stage is: learning rules from examples for the acquired input/output data; while the second stage is: completing the unknown fuzzy rules from heuristics and experience. The algorithm of fuzzy-rule base modeling as well as the actuators’ forces results from models and experiments, for a 6 DOF Stewart Platform, are presented.