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First Name:
Wen
Last Name:
Yan
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The robot arm system with no or low-accuracy Lagrange dynamic identification is a typical unknown-structure MIMO coupled system. It is difficult to achieve fast-convergence and high-accuracy control for this practical system, especially with no empirical pre-adjustment of the initial input direction. To solve this practical problem, a novel prescribed finite-time nondirectional AT-S fuzzy control method is proposed.
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This is a data set about a practical explicit-time controller designing for a MIMO robotic system with proportional feedback. The robotic parameters are as follows: the weight is 35 KG; the arm span is 646 mm; the sample time is 0.0005s; the motor speed is 3000 RPM; the current signal amplification ratio is 1000; the motor maximum torque is [1.27, 1.27, 0.64, 0.318, 0.318, 0.159]^T (N \cdot m); the transmission ratio is [81.7853, 101.0453, 101.1892, 81.6735, 80.9486, 51.0270]^T.
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The data is uploaded according to the requirements of IEEE DataPort. The file is named 'data of robot control experiments.zip', and it contains two folders. The folder named 'Data of Section IV-B' is the experimental data in Section IV-B, and the folder named 'Data of Appendix A' is the experimental data in Appendix A.
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