NN-compensator with fuzzy based switching for controlling 3-DOF underactuated manipulator.
Keigo WatanabeLanka UdawattaKiyotaka IzumiKazuo KiguchiPublished in: CIRA (2003)
Keyphrases
- degrees of freedom
- motion planning
- neural network
- fuzzy logic
- robotic manipulator
- robotic arm
- path planning
- fuzzy sets
- control scheme
- sliding mode
- nearest neighbor
- end effector
- pose estimation
- membership functions
- robot manipulators
- fuzzy inference system
- internal model control
- fuzzy rules
- fuzzy numbers
- fuzzy systems
- adaptive neural
- genetic algorithm
- power system
- artificial neural networks
- knn
- bp neural network
- control system
- fuzzy clustering
- fuzzy neural network
- neural network model
- nonlinear functions
- robot arm
- controller design
- inverse kinematics
- back propagation
- vision system
- feed forward
- mobile robot
- mechanical systems