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
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"
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
DOI :
10.1109/ICCAE.2010.5451512
