Abstract
In this paper, Adaptive Neuro Fuzzy Inference System (ANFIS) is used for the controlling of a commercial robot manipulator. A Microbot [1] with three degrees of freedom is utilized to evaluate the proposed methodology. A decentralized ANFIS controller is used for each joint, with a Fuzzy Associative Memories (FAM) performing the inverse kinematics mapping in a supervisory mode. The individual fuzzy controller for each joint generates the required control signal to a DC servo motor to move the associated link to the new position. The simulation experiments indeed demonstrate the effectiveness of the proposed method.
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© 1998 Springer-Verlag Berlin Heidelberg
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Zilouchian, A., Howard, D.W., Jordanides, T. (1998). An Adaptive Neuro-Fuzzy Inference System (ANFIS) approach to control of robotic manipulators. In: Pasqual del Pobil, A., Mira, J., Ali, M. (eds) Tasks and Methods in Applied Artificial Intelligence. IEA/AIE 1998. Lecture Notes in Computer Science, vol 1416. Springer, Berlin, Heidelberg. https://doi.org/10.1007/3-540-64574-8_424
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DOI: https://doi.org/10.1007/3-540-64574-8_424
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