Creator:

Gierlak, Piotr ; Muszyńska, Magdalena ; Żylski, Wiesław (1938-2018)

Contributor:

Jurczak, Paweł - red.

Title:

Neuro-fuzzy control of a robotic manipulator

Group publication title:

IJAME, volume 19 (2014)

Subject and Keywords:

robotic manipulator ; force control ; neuro-fuzzy systems

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.

Publisher:

Zielona Góra: Uniwersytet Zielonogórski

Date:

2014

Resource Type:

artykuł

Format:

application/pdf

DOI:

10.2478/ijame-2014-0039

Pages:

575-584

Source:

IJAME, volume 19, number 3 (2014)

Language:

eng

License:

CC 4.0

License CC BY-NC-ND 4.0:

click here to follow the link

Rights:

Biblioteka Uniwersytetu Zielonogórskiego