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International Journal of Applied Mechanics and Engineering

The Journal of University of Zielona Góra

Editor-in-Chief: Walicki, Edward

4 Issues per year


CiteScore 2016: 0.12

SCImago Journal Rank (SJR) 2016: 0.127
Source Normalized Impact per Paper (SNIP) 2016: 0.063

Open Access
Online
ISSN
2353-9003
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Neuro-Fuzzy Control of a Robotic Manipulator

P. Gierlak
  • Department of Applied Mechanics and Robotics Faculty of Mechanical Engineering and Aeronautics Rzeszow University of Technology al. Powstańców Warszawy 12, 35-959 Rzeszów, POLAND
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/ M. Muszyńska
  • Corresponding author
  • Department of Applied Mechanics and Robotics Faculty of Mechanical Engineering and Aeronautics Rzeszow University of Technology al. Powstańców Warszawy 12, 35-959 Rzeszów, POLAND
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  • Other articles by this author:
  • De Gruyter OnlineGoogle Scholar
/ W. Żylski
  • Department of Applied Mechanics and Robotics Faculty of Mechanical Engineering and Aeronautics Rzeszow University of Technology al. Powstańców Warszawy 12, 35-959 Rzeszów, POLAND
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Published Online: 2014-09-02 | DOI: https://doi.org/10.2478/ijame-2014-0039

Abstract

In this paper, to solve the problem of control of a robotic manipulator’s movement with holonomical constraints, an intelligent control system was used. This system is understood as a hybrid controller, being a combination of fuzzy logic and an artificial neural network. The purpose of the neuro-fuzzy system is the approximation of the nonlinearity of the robotic manipulator’s dynamic to generate a compensatory control. The control system is designed in such a way as to permit modification of its properties under different operating conditions of the two-link manipulator

Keywords: robotic manipulator; force control; neuro-fuzzy system

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About the article

Received: 2014-05-12

Accepted: 2014-06-02

Published Online: 2014-09-02

Published in Print: 2014-08-01


Citation Information: International Journal of Applied Mechanics and Engineering, Volume 19, Issue 3, Pages 575–584, ISSN (Online) 1734-4492, DOI: https://doi.org/10.2478/ijame-2014-0039.

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© 2014. This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 3.0 License. BY-NC-ND 3.0

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