Sinteza upravljanja fleksibilnim robotom s neizrazito-logičkim regulatorom

Kekez, Aleksandar (1998) Sinteza upravljanja fleksibilnim robotom s neizrazito-logičkim regulatorom. = Scientific master's thesis , Sveučilište u Zagrebu, Fakultet strojarstva i brodogradnje, UNSPECIFIED. Mentor: Novaković, Branko.

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Abstract (Croatian)

Zadatak kojim se robotičari dosta bave u posljednje vrijeme je pronalaženje algoritama koji bi vodili fleksibilni robot s zadovo ljavajućim rezultatima. Budući da je riječ o složenom dinamičkom modelu s prostorno distribuiranim parametrima, već matematički opis, koji je neophodan za sintezu klasičnog regulatora, predstavlja problem koji nije lako riješiti. Problem vođenja fleksibilnog robota u ovom radu pokušalo se riješiti uporabom neizrazitog regulatora i to tako da je djelomično iskorištena prednost da neizraziti regulator ne treba apriori matematički model za rješavanje problema regulacije. Već je primjena neizrazitog regulatora s bazom pravila ponašanja dala zadovoljavajuće rezultate u pogledu pozicioniranja, ali tek je primjena neizrazitog regulatora s analitičkim pristupom pokazala mogućnosti neizrazite logike u rješavanju složenih problema regulacije u realnom vremenu. Odgovarajući napor treba svakako uložiti za podešavanje parametara analitičkih funkcija, zavisno od kriterija optimalizacije.

Abstract

Finding the efficient algorithms for flexible robots control synthesis is the aim of many current researches. Complicated dynamic model of flexible robots, described by complex mathematical expressions, is big problem that is not easy to solve. In this MS. work that problem has been solved by using of fuzzy logic controller. It has been used big advantage that fuzzy logic controller does not need necessary mathematical model for solving the problem of control synthesis. Application of fuzzy logic controller with rule base has given the acceptable results. But application of fuzzy logic controller with the analytic approach has showed the real possibilities of using these methods for solving problems of complicated control synthesis in real time processes . Depending of the requesting demands, some efforts should be put for the adjustment of the variables of the analytic functions.

Item Type: Thesis (Scientific master's thesis)
Uncontrolled Keywords: fleksibilni robot; neizrazito upravljanje; analitički pristup
Divisions: 900 Department of Robotics and Production System Automation > 910 Chair of Engineering Automation
Date Deposited: 22 Sep 2014 18:00
Last Modified: 16 Oct 2015 13:20
URI: http://repozitorij.fsb.hr/id/eprint/65

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