International Journal of Intelligent Systems and Applications (IJISA)
IJISA Vol. 6, No. 1, 8 Dec. 2013
Cover page and Table of Contents: PDF (size: 639KB)
Design Parallel Fuzzy Partly Inverse Dynamic Method plus Gravity Control for Highly Nonlinear Continuum Robot
Full Text (PDF, 639KB), PP.112-123
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Author(s)
Meysam Kazeminasab
1,*
Farzin Piltan
2
Zahra Esmaeili
1
Mahdi Mirshekaran
1
Ali Reza Salehi
1
Index Terms
Estimation, Inverse Dynamic Methodology, Fuzzy Inference Engine, Continuum Robot Manipulator
Abstract
Refer to this research, a position parallel error-based fuzzy inverse dynamic plus gravity controller is proposed for continuum robot manipulator. The main problem of the pure inverse dynamic controller was equivalent dynamic formulation in certain and uncertain systems. The nonlinear equivalent dynamic problem in uncertain system is solved by using fuzzy logic theory. To estimate the continuum robot manipulator system’s dynamic, 49 rules Mamdani inference system is design and applied to inverse dynamic plus gravity methodology. This methodology is based on applied fuzzy logic in equivalent nonlinear dynamic part to estimate unknown parameters. The results demonstrate that the error-based parallel fuzzy inverse dynamic plus gravity controller is a partly model-free controllers which works well in certain and partly uncertain system.
Cite This Paper
Meysam Kazeminasab, Farzin Piltan, Zahra Esmaeili, Mahdi Mirshekaran, Alireza Salehi, "Design Parallel Fuzzy Partly Inverse Dynamic Method plus Gravity Control for Highly Nonlinear Continuum Robot", International Journal of Intelligent Systems and Applications(IJISA), vol.6, no.1, pp.112-123, 2014. DOI:10.5815/ijisa.2014.01.12
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