Neuro-fuzzy inverse model control structure of robotic manipulators utilized for physiotherapy applications

A neuro-fuzzy control model for fine-positioning of manipulators

Fuzzy Logic Applications in Control of Robotic Manipulators

Abstract. Fuzzy Logic (nebulous logic) is a one of the fields from computation what else has been growing on the last years, principally due the advance from the new computational technologies. These applications may be found at diverse devices of the day the day , such as into the control of machines of wash, juncture, air-conditioning and another. In robotics, can you to apply with certain sa...

Inverse kinematic neuro-control of robotic systems

The emergence of the theory of dynamic neural computing has made it possible to develop neural learning and adaptive schemes that can be used to obtain feasible solutions to complex control problems, such as inverse kinematic control for robotic systems. In this paper, such a neural learning scheme using a multilayered dynamic neural network (MDNN) is proposed. The basic dynamic computing eleme...

Adaptive Neuro-fuzzy Controller for Hybrid Position/force Control of Robotic Manipulators

In this paper, an adaptive control method for hybrid position/force control of robot manipulators, based on neuro-fuzzy modelling, is presented. Also, an adaptive neuro-fuzzy compensator compensates the friction force between the endeffector and the surface of the object. Due to the adaptive neuro-fuzzy modelling, the proposed controller is independent of the robot dynamics. Also, the stability...

Discrete-time repetitive optimal control: Robotic manipulators

This paper proposes a discrete-time repetitive optimal control of electrically driven robotic manipulators using an uncertainty estimator. The proposed control method can be used for performing repetitive motion, which covers many industrial applications of robotic manipulators. This kind of control law is in the class of torque-based control in which the joint torques are generated by permanen...