Fuzzy identifier based inverse dynamics control for a 3-dof articulated manipulator

被引：0
|
作者：
Erbatur, K [1 ]
Kaynak, O [1 ]
Rudas, I [1 ]
机构：
[1] TUBITAK, Marmara Res Ctr, Robot & Automat Grp, TR-41470 Gebze Kocaeli, Turkey
来源：
IECON '97 - PROCEEDINGS OF THE 23RD INTERNATIONAL CONFERENCE ON INDUSTRIAL ELECTRONICS, CONTROL, AND INSTRUMENTATION, VOLS. 1-4 | 1997年
关键词：
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
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 feed-forward 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.
引用
收藏
页码：1052 / 1056
页数：5
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