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ORIGINAL PAPER
Neuro-Fuzzy Control of a Robotic Manipulator
1
Department of Applied Mechanics and Robotics Faculty of Mechanical Engineering and Aeronautics Rzeszow University of Technology al. Powstańców Warszawy 12, 35-959 Rzeszów, POLAND
Online publication date: 2014-09-02
Publication date: 2014-08-01
International Journal of Applied Mechanics and Engineering 2014;19(3):575-584
KEYWORDS
ABSTRACT
In this paper, to solve the problem of control of a robotic manipulator’s movement with holonomical constraints, an intelligent control system was used. This system is understood as a hybrid controller, being a combination of fuzzy logic and an artificial neural network. The purpose of the neuro-fuzzy system is the approximation of the nonlinearity of the robotic manipulator’s dynamic to generate a compensatory control. The control system is designed in such a way as to permit modification of its properties under different operating conditions of the two-link manipulator
FUNDING
This research received no specific grant from any funding agency in the public, commercial, or not-for-profit sectors.
CONFLICT OF INTEREST
The authors declare that they have no conflict of interest.
DATA AVAILABILITY
All data generated or analysed during this study are included in this published article.
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| eISSN: | 2353-9003 |
| ISSN: | 1734-4492 |
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