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International Journal of Intelligent Systems and Applications(IJISA)

ISSN: 2074-904X (Print), ISSN: 2074-9058 (Online)

Published By: MECS Press

IJISA Vol.6, No.11, Oct. 2014

Sequential Adaptive Fuzzy Inference System Based Intelligent Control of Robot Manipulators

Full Text (PDF, 658KB), PP.49-56


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Author(s)

Sahraoui Mustapha, Khelfi Mohamed Fayçal, Salem Mohammed

Index Terms

Artificial Intelligence; SAFIS (Sequential Adaptive Fuzzy Inference System); Neuro-Fuzzy Networks; Nonlinear System; Control; Robot Manipulator

Abstract

The present paper is dedicated to the presentation and implementation of an optimized technique allowing an on-line estimation of a robot manipulator parameters to use them in a computed torque control. Indeed the proposed control law needs the exact robot model to give good performances. The complexity of the robot manipulator and its strong non-linearity makes it hard to know its parameters. Therefore, we propose in this paper to use neuro-fuzzy networks Sequential Adaptive Fuzzy Inference System (SAFIS) to estimate the parameters of the controlled robot manipulator.

Cite This Paper

Sahraoui Mustapha, Khelfi Mohamed Fayçal, Salem Mohammed,"Sequential Adaptive Fuzzy Inference System Based Intelligent Control of Robot Manipulators", International Journal of Intelligent Systems and Applications(IJISA), vol.6, no.11, pp.49-56, 2014. DOI: 10.5815/ijisa.2014.11.07

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