Volume 16, Issue 10 (1-2017)                   Modares Mechanical Engineering 2017, 16(10): 163-172 | Back to browse issues page

XML Persian Abstract Print


Download citation:
BibTeX | RIS | EndNote | Medlars | ProCite | Reference Manager | RefWorks
Send citation to:

Faritus S M R, Homaei H, Hadian Jazi S. Neuro-fuzzy Controller of Rigid-Flexible Manipulators with Intelligence Membership Function. Modares Mechanical Engineering 2017; 16 (10) :163-172
URL: http://mme.modares.ac.ir/article-15-2835-en.html
Abstract:   (4129 Views)
This paper presents a new Neuro-fuzzy control system to control rigid-flexible manipulators. Enhancing the performance of fuzzy controller and intelligence in fuzzy and non-fuzzy units are the goals of this research. Proposed control system includes a fuzzy controller in the feedback and a neural network is the feed-forward. The network has the responsibility of estimating the inverse dynamic of device and then, the production of control command. Updating weighting coefficients of network is done on line using the fuzzy controller output. On the other hand, two dynamic recurrent neural networks are used for making fuzzy unit intelligent. Networks are responsible for regulating the main factors of membership functions in the fuzzy controller. The input of these networks is error and error change rate and their weights are done by using an error back-propagation algorithm. To verify the effectiveness of the proposed method, simulation is conducted for skilled manipulators with three interfaces which the end interface is flexible. System responses to step input and sinusoidal input are separately obtained for fuzzy controllers and proposed controller and compared. Comparison and studies indicate the effectiveness of the provided method.
Full-Text [PDF 5171 kb]   (5583 Downloads)    
Article Type: Research Article | Subject: robatic
Received: 2016/07/8 | Accepted: 2016/09/6 | Published: 2016/10/9

Add your comments about this article : Your username or Email:
CAPTCHA

Rights and permissions
Creative Commons License This work is licensed under a Creative Commons Attribution-NonCommercial 4.0 International License.