System identification and control of robot manipulator based on fuzzy adaptive differential evolution algorithm

نویسندگان

  • Rawaa Dawoud Al-Dabbagh
  • Azeddien Kinsheel
  • Saad Mekhilef
  • Mohd Sapiyan Baba
  • Shahaboddin Shamshirband
چکیده

Department of Artificial Intelligence, Faculty of Computer Science and Information Technology, University of Malaya, Kuala Lumpur, Malaysia Department of Computer Science, Faculty of Science, University of Baghdad, Iraq Department of Mechanical and Industrial Engineering, Faculty of Engineering, University of Tripoli, Libya d Power Electronics and Renewable Energy Research Laboratory (PEARL), Department of Electrical Engineering, University of Malaya, Malaysia Gulf University of Science and Technology, Kuwait Department of Computer Science, Chalous Branch, Islamic Azad University (IAU), 46615-397 Chalous, Mazandaran, Iran

برای دانلود متن کامل این مقاله و بیش از 32 میلیون مقاله دیگر ابتدا ثبت نام کنید

ثبت نام

اگر عضو سایت هستید لطفا وارد حساب کاربری خود شوید

منابع مشابه

Design of an Adaptive Fuzzy Estimator for Force/Position Tracking in Robot Manipulators

This paper presents a stable new algorithm for force/position control in robot manipulators. In this algorithm, position vectors are measured by sensors and then used in the control law. Since using force sensor has some issues such as high costs and technical problems, an approach is presented to overcome these issues. In this respect, force sensor is replaced by an adaptive fuzzy estimator to...

متن کامل

CONTROL OF FLEXIBLE JOINT ROBOT MANIPULATORS BY COMPENSATING FLEXIBILITY

A flexible-joint robot manipulator is a complex system because it is nonlinear, multivariable, highly coupled along with joint flexibility and uncertainty. To overcome flexibility, several methods have been proposed based on flexible model. This paper presents a novel method for controlling flexible-joint robot manipulators. A novel control law is presented by compensating flexibility to form a...

متن کامل

Adaptive Voltage-based Control of Direct-drive Robots Driven by Permanent Magnet Synchronous Motors

Tracking control of the direct-drive robot manipulators in high-speed is a challenging problem. The Coriolis and centrifugal torques become dominant in the high-speed motion control. The dynamical model of the robotic system including the robot manipulator and actuators is highly nonlinear, heavily coupled, uncertain and computationally extensive in non-companion form. In order to overcome thes...

متن کامل

adaptive control of two-link robot manipulator based on the feedback linearization method and the proposed neural network

This paper proposes an adaptive control method based on the feedback linearization technique and a proposed neural network,  for tracking and position control of an industrial manipulator. At first, it is assumed that the dynamics of the system are known and the control signal is constructed  by the feedback linearization method. Then to eliminate the effects of the uncertainties and external d...

متن کامل

Adaptive Inverse Control of Flexible Link Robot Using ANFIS Based on Type-2 Fuzzy

This paper presents a novel adaptive neuro-fuzzy inference system based on interval Gaussian type-2 fuzzy sets in the antecedent part and Gaussian type-1 fuzzy sets as coefficients of linear combination of input variables in the consequent part. The capability of the proposed ANFIS2 for function approximation and dynamical system identification is remarkable. The structure of ANFIS2 is very sim...

متن کامل

A New Type-2 Fuzzy Systems for Flexible-Joint Robot Arm Control

In this paper an adaptive neuro fuzzy inference system based on interval Gaussian type-2 fuzzy sets in the antecedent part and Gaussian type-1 fuzzy sets as coefficients of linear combination of input variables in the consequent part is presented. The capability of the proposed method (we named ANFIS2) to function approximation and dynamical system identification is shown. The ANFIS2 structure ...

متن کامل

ذخیره در منابع من


  با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید

برای دانلود متن کامل این مقاله و بیش از 32 میلیون مقاله دیگر ابتدا ثبت نام کنید

ثبت نام

اگر عضو سایت هستید لطفا وارد حساب کاربری خود شوید

عنوان ژورنال:
  • Advances in Engineering Software

دوره 78  شماره 

صفحات  -

تاریخ انتشار 2014