Adaptive Neuro-Fuzzy Based 6DOF Controller for Stewart Platform
نویسندگان
چکیده
This paper presents the application of an adaptive neuro-fuzzy logic on the development of controller for 6 Degree-of-freedom parallel manipulator known as the Stewart platform. This manipulating structure has been well-known for its use as a flight simulator. In this research, the kinematics of the Stewart platform is analyzed first and then neuro-fuzzy logic based controller for controlling leg forces of the Stewart platform is developed. Experimental results have shown that the designed fuzzy controller can drive the sixdegree motion platform accurately, smoothly and stably. Key-Words: Adaptive Neuro-Fuzzy Control, Stewart Platform, 6 Degree-of-freedom
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