Neuro-Fuzzy Trajectory Control of a Scara Robot
Yükleniyor...
Dosyalar
Tarih
2010
Yazarlar
Dergi Başlığı
Dergi ISSN
Cilt Başlığı
Yayıncı
IEEE
Erişim Hakkı
info:eu-repo/semantics/openAccess
Özet
In this paper, two different adaptive network based fuzzy logic controllers (Neuro-Fuzzy) are designed for trajectory tracking control of a 3-DOF scara type robot manipulator. The kinematic and the dynamic equations are used to obtain equations of motion of robot manipulator and three different rise functions are chosen for desired Cartesian trajectory as circular tool trajectory. The performances of Neuro-Fuzzy controllers are compared with PID control technique to show efficiency of proposed controllers.
Açıklama
2nd International Conference on Computer and Automation Engineering (ICCAE) -- FEB 26-28, 2010 -- Singapore, SINGAPORE
Anahtar Kelimeler
Neuro-Fuzzy, Scara Robot, Manipulator, Trajectory Tracking
Kaynak
2010 2nd International Conference on Computer and Automation Engineering (ICCAE 2010), Vol 2
WoS Q Değeri
N/A
Scopus Q Değeri
N/A
Cilt
2
Sayı
Künye
Şahin, Y., Tınkır, M., Ankaralı, A., (2010). Neuro-Fuzzy Trajectory Control of a Scara Robot. International Conference on Computer and Automation Engineering, Vol 2, 2, 298-302.
DOI: 10.1109/ICCAE.2010.5451512
