Journal article 964 views
Neuro-fuzzy inverse model control structure of robotic manipulators utilized for physiotherapy applications
,
A.M. Abdel Ghany
Ain Shams Engineering Journal, Volume: 4, Issue: 4, Pages: 805 - 829
Swansea University Author:
Ashraf Fahmy Abdo
Full text not available from this repository: check for access using links below.
DOI (Published version): 10.1016/j.asej.2013.02.010
Abstract
This paper presents a new neuro-fuzzy controller for robot manipulators. First, an inductive learning technique is applied to generate the required inverse modeling rules from input/output data recorded in the off-line structure learning phase. Second, a fully differentiable fuzzy neural network is...
| Published in: | Ain Shams Engineering Journal |
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| ISSN: | 2090-4479 |
| Published: |
Elsevier BV
2013
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| Online Access: |
Check full text
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| URI: | https://cronfa.swan.ac.uk/Record/cronfa62566 |
| Abstract: |
This paper presents a new neuro-fuzzy controller for robot manipulators. First, an inductive learning technique is applied to generate the required inverse modeling rules from input/output data recorded in the off-line structure learning phase. Second, a fully differentiable fuzzy neural network is developed to construct the inverse dynamics part of the controller for the online parameter learning phase. Finally, a fuzzy-PID-like incremental controller was employed as Feedback servo controller. The proposed control system was tested using dynamic model of a six-axis industrial robot. The control system showed good results compared to the conventional PID individual joint controller. |
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| Keywords: |
Dynamic systems; Fuzzy systems; Fuzzy-PID controllers; Neuro-fuzzy systems; Robot manipulators |
| College: |
Faculty of Science and Engineering |
| Issue: |
4 |
| Start Page: |
805 |
| End Page: |
829 |