Neuro-Fuzzy trajectory control of a scara robot

In this paper, two different adaptive network based fuzzy logic controllers (Neuro-Fuzzy) are designed for trajectory tracking control of a 3-DOF scara type robot manipulator. The kinematic and the dynamic equations are used to obtain equations of motion of robot manipulator and three different rise functions are chosen for desired Cartesian trajectory as circular tool trajectory. The performances of Neuro-Fuzzy controllers are compared with PID control technique to show efficiency of proposed controllers.