Neuro-fuzzy control of a robotic manipulator

• Autorzy: Gierlak P. , Muszyńska M. , Żylski W.

Identyfikatory

DOI

10.2478/ijame-2014-0039

• Języki publikacji: EN

Abstrakty

EN

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.

Słowa kluczowe

EN

robotic manipulator; force control; neuro-fuzzy system

PL

manipulator; sztuczna inteligencja; sieci neuronowe; robot

• Wydawca: Oficyna Wydawnicza Uniwersytetu Zielonogórskiego
• Czasopismo: International Journal of Applied Mechanics and Engineering
• Rocznik: 2014
• Tom: Vol. 19, no. 3
• Strony: 575--584
• Opis fizyczny: Bibliogr. 10 poz., rys., wykr.

Twórcy

autor

Gierlak P.

• Department of Applied Mechanics and Robotics Faculty of Mechanical Engineering and Aeronautics Rzeszow University of Technology al. Powstańców Warszawy 12, 35-959 Rzeszów, POLAND

autor

Muszyńska M.

• Department of Applied Mechanics and Robotics Faculty of Mechanical Engineering and Aeronautics Rzeszow University of Technology al. Powstańców Warszawy 12, 35-959 Rzeszów, POLAND

autor

Żylski W.

• Department of Applied Mechanics and Robotics Faculty of Mechanical Engineering and Aeronautics Rzeszow University of Technology al. Powstańców Warszawy 12, 35-959 Rzeszów, POLAND

Bibliografia

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• [3] Gierlak P. (2012): Hybrid Position/Force Control of the SCORBOT-ER 4pc Manipulator with Neural Compensation of Nonlinearities. - Springer-Verlag Berlin Heidelberg, In: L. Rutkowski et al. (Eds.): ICAISC 2012, Part II, LNCS 7268, pp.433-441.
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• [9] Lewis F.L., Jagannathan S. and Yesildirek A. (1999): Control of Robot Manipulators and Nonlinear Systems. - London: Taylor & Francis.
• [10] Muszyńska M. (2012): Neuro-fuzzy control of a wheeled mobile robot. - Doctoral Dissertation.