Adaptive network based fuzzy logic control of a rigid - flexible robot manipulator

In this study position and vibration control of a rigid-flexible robot manipulator is investigated. Initially dynamic model of the manipulator system is obtained by using Lagrange equations and assumed modes method. Two adaptive networks based fuzzy logic controllers (ANFLCs) are proposed for tracking control of the rigid link and the flexible link. The training and testing data of ANFLCs are obtained from the conventional PD control of the manipulator system. The performances of ANFLCs are tested for different type and different number of membership functions. Finally simulation results are obtained. Results demonstrate the remarkable performance of the proposed controllers.