Semi hierarchical adaptive network based fuzzy logic controller design for a multi-straight-line path tracing flexible robot manipulator with rotating-prismatic joint

In this study, a semi-hierarchical adaptive network based fuzzy logic controller for a flexible. robot manipulator with rotating-prismatic joint is designed. The proposed controller is aimed to get the end of the robot manipulator to the desired multi-straight-line path and terminate vibrations on arm while it moves. The controller is divided into two parts. First part is for rotation control of. the arm. Second part has also two subsystems. The slow-subsystem provides desired extension and the fast-subsystem controller controls change in extension. The performance of the adaptive hierarchical control system is evaluated on the basis of the simulation results.