Neuro-Fuzzy Control of a Robotic Manipulator

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-fuz...

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Bibliographic Details
Main Authors:	Gierlak P., Muszyńska M., Żylski W.
Format:	Article
Language:	English
Published:	Sciendo 2014-08-01
Series:	International Journal of Applied Mechanics and Engineering
Subjects:	robotic manipulator force control neuro-fuzzy system
Online Access:	https://doi.org/10.2478/ijame-2014-0039

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spelling	doaj-d8a7395c1464432ba5cc577c8c1b60c12021-09-05T21:02:01ZengSciendoInternational Journal of Applied Mechanics and Engineering1734-44922014-08-0119357558410.2478/ijame-2014-0039Neuro-Fuzzy Control of a Robotic ManipulatorGierlak P.0Muszyńska M.1Żylski W.2Department of Applied Mechanics and Robotics Faculty of Mechanical Engineering and Aeronautics Rzeszow University of Technology al. Powstańców Warszawy 12, 35-959 Rzeszów, POLANDDepartment of Applied Mechanics and Robotics Faculty of Mechanical Engineering and Aeronautics Rzeszow University of Technology al. Powstańców Warszawy 12, 35-959 Rzeszów, POLANDDepartment of Applied Mechanics and Robotics Faculty of Mechanical Engineering and Aeronautics Rzeszow University of Technology al. Powstańców Warszawy 12, 35-959 Rzeszów, POLANDIn 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 manipulatorhttps://doi.org/10.2478/ijame-2014-0039robotic manipulatorforce controlneuro-fuzzy system
collection	DOAJ
language	English
format	Article
sources	DOAJ
author	Gierlak P. Muszyńska M. Żylski W.
spellingShingle	Gierlak P. Muszyńska M. Żylski W. Neuro-Fuzzy Control of a Robotic Manipulator International Journal of Applied Mechanics and Engineering robotic manipulator force control neuro-fuzzy system
author_facet	Gierlak P. Muszyńska M. Żylski W.
author_sort	Gierlak P.
title	Neuro-Fuzzy Control of a Robotic Manipulator
title_short	Neuro-Fuzzy Control of a Robotic Manipulator
title_full	Neuro-Fuzzy Control of a Robotic Manipulator
title_fullStr	Neuro-Fuzzy Control of a Robotic Manipulator
title_full_unstemmed	Neuro-Fuzzy Control of a Robotic Manipulator
title_sort	neuro-fuzzy control of a robotic manipulator
publisher	Sciendo
series	International Journal of Applied Mechanics and Engineering
issn	1734-4492
publishDate	2014-08-01
description	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
topic	robotic manipulator force control neuro-fuzzy system
url	https://doi.org/10.2478/ijame-2014-0039
work_keys_str_mv	AT gierlakp neurofuzzycontrolofaroboticmanipulator AT muszynskam neurofuzzycontrolofaroboticmanipulator AT zylskiw neurofuzzycontrolofaroboticmanipulator
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Neuro-Fuzzy Control of a Robotic Manipulator

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