Verification hybrid control of a wheeled mobile robot and manipulator
In this article, innovative approaches to realization of the wheeled mobile robots and manipulator tracking are presented. Conceptions include application of the neural-fuzzy systems to compensation of the controlled system’s nonlinearities in the tracking control task. Proposed control algorithms w...
| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
| Published: |
De Gruyter
2016-04-01
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| Series: | Open Engineering |
| Subjects: | |
| Online Access: | http://www.degruyter.com/view/j/eng.2016.6.issue-1/eng-2016-0007/eng-2016-0007.xml?format=INT |
| Summary: | In this article, innovative approaches to realization
of the wheeled mobile robots and manipulator
tracking are presented. Conceptions include application
of the neural-fuzzy systems to compensation of the controlled
system’s nonlinearities in the tracking control task.
Proposed control algorithms work on-line, contain structure,
that adapt to the changeable work conditions of the
controlled systems, and do not require the preliminary
learning. The algorithm was verification on the real object
which was a Scorbot - ER 4pc robotic manipulator and a
Pioneer - 2DX mobile robot. |
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| ISSN: | 2391-5439 |