A Flexible Miniature Robot Based on Fuzzy Wavelet Neural Network Control

摘要：

A 3-DOF robot based on inchworm-type motion mechanism is presented for miniature endoscope inspection. The robot is actuated with pneumatic artificial muscle and clamped by two air chambers. The dynamic model of the robot is built. In order to solve the problems of low stiffness and the nonlinear movement characteristic of the robot system, a fuzzy wavelet neural network (FWNN) controller is proposed to control the robot position servo system using the principle of the pulse width-modulation (PWM). Using gradient method the learning of FWNN is performed to find optimal values of the parameters of controller. Result of simulation of the robot control system based on FWNN is compared with the simulation result of the control system based on wavelet neural network (WNN) and fuzzy neural network (FNN). Simulation and experiment results both demonstrate the training of FWNN controller is faster and it can effectively improve the control quality.

作者: Guo-zheng YAN Peng ZAN Biao HUANG

作者单位: Shanghai Jiaotong University, China

会议类型: 国际会议

会议名称: 2nd IEEE Conference on Industrial Electronics and Applications(ICIEA 2007)(第二届IEEE工业电子与应用国际会议)

会议地点: 哈尔滨

会议语种:英文

在线出版日期: 2007-05-23（万方平台首次上网日期，不代表论文的发表时间）