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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: Centre for Advanced Manufacturing Systems At Cardiff (CAMSAC)
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: http://orca-mwe.cf.ac.uk/id/eprint/69246

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