Real-Time Implementation of a Dynamic Fuzzy Neural Controller for a SCARA Robot
نویسندگان
چکیده
This paper presents the design, development and implementation of a Dynamic Fuzzy Neural Networks (D-FNNs) Controller suitable for real-time industrial applications. The unique feature of the D-FNNs controller is that it has dynamic self-organising structure, fast learning speed, good generalisation and flexibility in learning. The approach of rapid prototyping is employed to implement the D-FNNs controller so as to control a Selectively Compliance Assembly Robot Arm (SCARA) Robot in real time. Simulink, an iterative software for simulating dynamic systems, is used for modelling, simulation and analysis of the dynamic system. The D-FNNs controller was implemented through Real-Time Workshop (RTW).
منابع مشابه
Adaptive fuzzy sliding mode and indirect radial-basis-function neural network controller for trajectory tracking control of a car-like robot
The ever-growing use of various vehicles for transportation, on the one hand, and the statistics ofsoaring road accidents resulting from human error, on the other hand, reminds us of the necessity toconduct more extensive research on the design, manufacturing and control of driver-less intelligentvehicles. For the automatic control of an autonomous vehicle, we need its dynamic...
متن کاملReal-time implementation of a dynamic fuzzy neural networks controller for a SCARA
This paper presents the design, development and implementation of a Dynamic Fuzzy Neural Networks (D-FNNs) Controller suitable for real-time industrial applications. The unique feature of the D-FNNs controller is that it has dynamic self-organising structure, fast learning speed, good generalisation and flexibility in learning. The approach of rapid prototyping is employed to implement the D-FN...
متن کامل3- DOF Scara type Robot Manipulator using Mamdani Based Fuzzy Controller
This paper aims 3-dof scara type robot manipulator using dynamic modeling. In this paper presents dynamic modeling of robot manipulator based on Lagrange Euler formulation using Mamdani based Fuzzy controller. The aim of designing fuzzy controller is to overcome the drawbacks of conventional PID controller because robot manipulators are nonlinear model so conventional PID controller cannot give...
متن کاملDiscrete time robust control of robot manipulators in the task space using adaptive fuzzy estimator
This paper presents a discrete-time robust control for electrically driven robot manipulators in the task space. A novel discrete-time model-free control law is proposed by employing an adaptive fuzzy estimator for the compensation of the uncertainty including model uncertainty, external disturbances and discretization error. Parameters of the fuzzy estimator are adapted to minimize the estimat...
متن کاملNavigation of a Mobile Robot Using Virtual Potential Field and Artificial Neural Network
Mobile robot navigation is one of the basic problems in robotics. In this paper, a new approach is proposed for autonomous mobile robot navigation in an unknown environment. The proposed approach is based on learning virtual parallel paths that propel the mobile robot toward the track using a multi-layer, feed-forward neural network. For training, a human operator navigates the mobile robot in ...
متن کامل