Control of scara robot using fuzzy–neural algorithm
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ncngon@ctu.edu.vnKeywords:
SCARA Robot , Fuzzy controller, PID controller, Fuzzy-PID controller, Adaptive Network based fuzzy inference systems (ANFIS)Abstract
This paper aims to verify the expert's ability to learn behavioral control based on adaptive fuzzy - neuro inference systems (ANFIS). To simulate the control behavioral of experts, a fuzzy-PID controller for SCARA robot has been built. By a training mechanism, ANFIS controller can operate independently, after learning from an expert control data. A SCARA robot is selected to verify this idea. This is a multi-input multi-output (MIMO) nonlinear system which is relatively difficult to control. The simulation results on MATLAB show that the controller using ANFIS can be used to learn expert control data, creating a foundation for building controllers that have the capacity to learn people behavior.
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