Title :
Fuzzy identifier based inverse dynamics control for a 3-DOF articulated manipulator
Author :
Erbatur, Kemalettin ; Kaynak, Okyay ; Rudas, Imre
Author_Institution :
Robotics & Autom. Group, TUBITAK Marmara Res. Centre, Gebze-Kocaeli, Turkey
Abstract :
A method using fuzzy logic and neural network structures for the identification and control of robot dynamics is presented in this paper. Fuzzy identifiers are employed to match the effects in the robot dynamics model. Fuzzy logic systems used are represented as three-layer feedforward neural networks. Fuzzy system parameters are adjusted via backpropagation. An on-line tuning algorithm is employed. Simulation results obtained with a three degrees of freedom articulated arm are given
Keywords :
backpropagation; control engineering computing; feedforward neural nets; fuzzy logic; identification; manipulator dynamics; 3-DOF articulated manipulator; backpropagation; fuzzy identifier based inverse dynamics control; fuzzy logic; neural network structures; on-line tuning algorithm; robot dynamics model; three-layer feedforward neural networks; Automatic control; Feedforward neural networks; Feedforward systems; Fuzzy control; Fuzzy logic; Fuzzy systems; Manipulator dynamics; Neural networks; Robotics and automation; Service robots;
Conference_Titel :
Industrial Electronics, Control and Instrumentation, 1997. IECON 97. 23rd International Conference on
Conference_Location :
New Orleans, LA
Print_ISBN :
0-7803-3932-0
DOI :
10.1109/IECON.1997.668425
