Trajectory planning and adaptive neural network based interval type-2 fuzzy logic controller design of 3-DOF robot

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dc.contributor.authorŞahin Y.
dc.contributor.authorTinkir M.
dc.contributor.authorAnkarali A.
dc.date.accessioned2020-03-26T18:22:24Z
dc.date.available2020-03-26T18:22:24Z
dc.date.issued2011
dc.departmentSelçuk Üniversitesien_US
dc.description2011 3rd International Conference on Computer Research and Development, ICCRD 2011 -- 11 March 2011 through 15 March 2011 -- Shanghai -- 84959en_US
dc.description.abstractIn this paper, design of an adaptive neural network based interval type-2 fuzzy logic controller (ANNIT2FL), circular and handwriting type trajectory planning are proposed to show ability of a 3-DOF( Degree of Freedom ) 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. Then, handwriting type trajectory is created to test controller's performance. Trajectory results of ANNIT2FL controlled robot manipulator are compared with the results of PID control. Simulation results demonstrate the remarkable performance of the proposed control technique. © 2011 IEEE.en_US
dc.identifier.doi10.1109/ICCRD.2011.5763865en_US
dc.identifier.endpage119en_US
dc.identifier.isbn9.78161E+12
dc.identifier.scopusqualityN/Aen_US
dc.identifier.startpage114en_US
dc.identifier.urihttps://dx.doi.org/10.1109/ICCRD.2011.5763865
dc.identifier.urihttps://hdl.handle.net/20.500.12395/27316
dc.identifier.volume4en_US
dc.indekslendigikaynakScopusen_US
dc.language.isoenen_US
dc.relation.ispartofICCRD2011 - 2011 3rd International Conference on Computer Research and Developmenten_US
dc.relation.publicationcategoryKonferans Öğesi - Uluslararası - Kurum Öğretim Elemanıen_US
dc.rightsinfo:eu-repo/semantics/closedAccessen_US
dc.selcuk20240510_oaigen_US
dc.subjectAdaptive neural networken_US
dc.subjectfuzzy logicen_US
dc.subjecthandwriting trajectoryen_US
dc.subjectinterval type-2en_US
dc.subjectscara roboten_US
dc.titleTrajectory planning and adaptive neural network based interval type-2 fuzzy logic controller design of 3-DOF roboten_US
dc.typeConference Objecten_US

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