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Adaptive fuzzy neural network for inverse modeling of robot manipulators

Pham, Duc Truong, Fahmy, Ashraf and Eldukhri, Eldaw Elzaki 2008. Adaptive fuzzy neural network for inverse modeling of robot manipulators. Presented at: 17th IFAC World Congress, Seoul, South Korea, 6-11 July 2008. Published in: Chung, Myung Jin and Misra, Pradeep eds. Proceedings of the 17th IFAC World Congress, 2008, Seoul, Korea, 6-11 July 2008. International Federation of Automatic Control (IFAC), pp. 5308-5313. 10.3182/20080706-5-KR-1001.00893

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Abstract

This paper presents a new systematic adaptive fuzzy neural network for inverse modelling of robot manipulators. An inductive learning algorithm is applied to generate the required inverse modelling rules from the robot's input/output records. A full differentiable fuzzy neural network is developed to construct the inverse models of the robot manipulator, while any adaptation technique, such as back-propagation algorithm, can be applied to tune the network parameters online.

Item Type: Conference or Workshop Item (Paper)
Date Type: Publication
Status: Published
Schools: Engineering
Centre for Advanced Manufacturing Systems At Cardiff (CAMSAC)
Subjects: T Technology > TA Engineering (General). Civil engineering (General)
Uncontrolled Keywords: Intelligent robotics; Networked robotic system modelling and control; Guidance navigation and control
Publisher: International Federation of Automatic Control (IFAC)
ISBN: 9783902661005
ISSN: 14746670
Last Modified: 10 Dec 2018 21:42
URI: http://orca-mwe.cf.ac.uk/id/eprint/33968

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