Fuzzy self-adaptive radial basis function neural network-based control of a seven-link redundant industrial manipulator

This paper proposes a method for the identiŽ cation of dynamics and control of a multilink industrial robot manipulator using Runge–Kutta–Gill neural networks (RKGNNs). RKGNNs are used to identify an ordinary differential equation of the dynamics of the robot manipulator. A structured function neural network (NN) with sub-networks to represent the components of the dynamics is used in the RKGNNs. The sub-networks consist of shape adaptive radial basis function (RBF) NNs. An evolutionary algorithm is used to optimize the shape parameters and the weights of the RBFNNs. Due to the fact that the RKGNNs can accurately grasp the changing rates of the states, this method can effectively be used for long-term prediction of the states of the robot manipulator dynamics. Unlike in conventional methods, the proposed method can even be used without input torque information because a torque network is part of the functional network. This method can be proposed as an effective option for the dynamics identiŽ cation of manipulators with high degrees-offreedom, as opposed to the derivation of dynamic equations and making additional hardware changes as in the case of statistical parameter identiŽ cation such as linear least-squaresmethod. Experiments were carried out using a seven-link industrial manipulator. The manipulator was controlled for a given trajectory, using adaptive fuzzy selection of nonlinear dynamic models identiŽ ed previously. Promising experimental results are obtained to prove the ability of the proposed method in capturing nonlinear dynamics of a multi-link manipulator in an effectivemanner.