Trajectory Planning and Adaptive Neural Network Based Interval Type-2 Fuzzy Logic Controller Design of 3-DOF Robot
In this paper, design of an adaptive neural network based interval type-2 fuzzy logic controller (ANNIT2FL), circular and handwriting type trajectory planning are proposed to show ability of a 3-DOF( Degree of Freedom ) 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. Then, handwriting type trajectory is created to test controllers performance. Trajectory results of ANNIT2FL controlled robot manipulator are compared with the results of PID control. Simulation results demonstrate the remarkable performance of the proposed control technique.
Adaptive neural network fuzzy logic interval type-2 scara robot handwriting trajectory
Yusuf (S)AH(I)N Mustafa TINKIR Arif ANKARALI
Department of Mechanical Engineering,Faculty of Eng. and Arch.,University of Sel(c)uk,Konya,TURKEY
国际会议
上海
英文
114-119
2011-03-11（万方平台首次上网日期，不代表论文的发表时间）