Trajectory Tracking Control of a Planar Robotic Arm Using Inverse Dynamics and Fuzzy Gain Scheduling: Simulation and Experimental Validation

This paper presents a complete modeling-to-validation workflow for an inverse dynamics controller applied to a two-degree-of-freedom planar robotic arm, incorporating high-fidelity simulation and physical prototyping. The inverse dynamics model is analytically formulated in MATLAB using the Newton&#...

Celý popis

Podrobná bibliografie

Hlavní autoři:	Muhammad Bilal Kadri, Saudah Anil Khatri, Sofia Yousuf
Médium:	Artigo
Jazyk:	Inglês
Vydáno:	IEEE 2025-01-01
Edice:	IEEE Access
Témata:	Inverse dynamics control computed torque method fuzzy gain scheduling planar robotic arm trajectory tracking
On-line přístup:	https://ieeexplore.ieee.org/document/11219019/
Tagy:	Přidat tag Žádné tagy, Buďte první, kdo vytvoří štítek k tomuto záznamu!