White Paper: Comparative Study of Some New Hybrid Fuzzy Algorithms for Manipulator Control
In this paper, an attempt has been made to do a comparative study of some hybrid fuzzy control schemes. We have tried to combine some well-established conventional and adaptive controllers with a lookup table-based fuzzy controller and have done a comparative analysis of their simulated performance. This paper follows a similar pattern as our earlier paper, where we compared some adaptive fuzzy algorithms used for manipulator control.
The robot manipulator is a highly complex system, which is multi-input, multi-output, nonlinear, and time variant. Controlling such a system is a tedious and challenging task. In this paper, some new hybrid fuzzy control algorithms have been proposed for manipulator control. These hybrid fuzzy controllers consist of two parts: a fuzzy controller and a conventional or adaptive controller. The outputs of these controllers are superimposed to produce the final actuation signal based on current position and velocity errors. Simulation is used to test these controllers for different trajectories and for varying manipulator parameters.Various performance indices like the RMS error, steady state error, and maximum error are used for comparison. It is observed that the hybrid controllers perform better than only fuzzy or only conventional/adaptive controllers.
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Annual Salary Survey
Before the calendar turned, 2016 already had the makings of a pivotal year for manufacturing, and for the world.
There were the big events for the year, including the United States as Partner Country at Hannover Messe in April and the 2016 International Manufacturing Technology Show in Chicago in September. There's also the matter of the U.S. presidential elections in November, which promise to shape policy in manufacturing for years to come.
But the year started with global economic turmoil, as a slowdown in Chinese manufacturing triggered a worldwide stock hiccup that sent values plummeting. The continued plunge in world oil prices has resulted in a slowdown in exploration and, by extension, the manufacture of exploration equipment.
Read more: 2015 Salary Survey