Neuro-fuzzy inverse model control structure of robotic manipulators utilized for physiotherapy applications

Fahmy, Ashraf and Abdel Ghany, A. M. 2013. Neuro-fuzzy inverse model control structure of robotic manipulators utilized for physiotherapy applications. Ain Shams Engineering Journal 4 (4) , pp. 805-829. 10.1016/j.asej.2013.02.010

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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.

Item Type:	Article
Date Type:	Publication
Status:	Published
Schools:	Research Institutes & Centres > Centre for Advanced Manufacturing Systems At Cardiff (CAMSAC) Schools > Engineering
Subjects:	T Technology > TA Engineering (General). Civil engineering (General)
Uncontrolled Keywords:	Dynamic systems; Fuzzy systems; Fuzzy-PID controllers; Neuro-fuzzy systems; Robot manipulators
Publisher:	Elsevier
ISSN:	2090-4479
Last Modified:	29 Apr 2016 03:46
URI:	https://orca.cardiff.ac.uk/id/eprint/69246

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