The study on position control of a flexible robot manipulator using fuzzy neural networks

This paper presents position control of flexible robot manipulator system by fuzzy neural networks. The proposed fuzzy neural network models embody the fuzzy model of which fuzzy rules have fuzzy sets in the antecedent part and consequent part. It also provides the fuzzy inferencing. A dynamic model for a flexible robot manipulator is derived, and then a comparative analysis was made with a PID controller through simulation. The results are presented to illustrate the advantages and improved performance of the proposed controller over the PID controller