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Online fuzzy based intelligent control of robot manipulator by SAFIS approach

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3 Author(s)
Mustapha Sahraoui ; Faculty of Sciences and Technology, University of Mascara, Algeria ; Mohammed Salem ; Mohammed Fayçal Khelfi

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.

Published in:

Complex Systems (ICCS), 2012 International Conference on

Date of Conference:

5-6 Nov. 2012