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ORIGINAL PAPER
Neuro-Fuzzy Control of a Robotic Manipulator
1
Department of Applied Mechanics and Robotics Faculty of Mechanical Engineering and Aeronautics Rzeszow University of Technology al. Powstańców Warszawy 12, 35-959 Rzeszów, POLAND
Online publication date: 2014-09-02
Publication date: 2014-08-01
International Journal of Applied Mechanics and Engineering 2014;19(3):575-584
KEYWORDS
ABSTRACT
In this paper, to solve the problem of control of a robotic manipulator’s movement with holonomical constraints, an intelligent control system was used. This system is understood as a hybrid controller, being a combination of fuzzy logic and an artificial neural network. The purpose of the neuro-fuzzy system is the approximation of the nonlinearity of the robotic manipulator’s dynamic to generate a compensatory control. The control system is designed in such a way as to permit modification of its properties under different operating conditions of the two-link manipulator
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