• DocumentCode
    3635280
  • Title

    Neuro-Fuzzy trajectory control of a scara robot

  • Author

    Yusuf ?ahin;Mustafa Tinkir;Arif Ankarali

  • Author_Institution
    Department of Mechanical Engineering, Faculty of Eng. and Arch.,University of Sel?uk, Konya, TURKEY
  • Volume
    2
  • fYear
    2010
  • Firstpage
    298
  • Lastpage
    302
  • Abstract
    In this paper, two different adaptive network based fuzzy logic controllers (Neuro-Fuzzy) are designed for trajectory tracking control of a 3-DOF scara type robot manipulator. The kinematic and the dynamic equations are used to obtain equations of motion of robot manipulator and three different rise functions are chosen for desired Cartesian trajectory as circular tool trajectory. The performances of Neuro-Fuzzy controllers are compared with PID control technique to show efficiency of proposed controllers.
  • Keywords
    "Robots","Manipulator dynamics","Differential equations","Adaptive systems","Programmable control","Adaptive control","Fuzzy logic","Trajectory","Kinematics","Three-term control"
  • Publisher
    ieee
  • Conference_Titel
    Computer and Automation Engineering (ICCAE), 2010 The 2nd International Conference on
  • Print_ISBN
    978-1-4244-5569-0;978-1-4244-5585-0
  • Type

    conf

  • DOI
    10.1109/ICCAE.2010.5451512
  • Filename
    5451512
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=3635280