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| Content Provider | IEEE Xplore Digital Library |
|---|---|
| Author | SahIn, Y. Ankarali, A. Tinkir, M. |
| Copyright Year | 2010 |
| Description | Author affiliation: Department of Mechanical Engineering, Faculty of Eng. and Arch.,University of Selçuk, Konya, TURKEY (SahIn, Y.; Ankarali, A.; Tinkir, M.) |
| Abstract | 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. |
| Starting Page | 298 |
| Ending Page | 302 |
| File Size | 245810 |
| Page Count | 5 |
| File Format | |
| ISBN | 9781424455850 |
| e-ISBN | 9781424455867 |
| DOI | 10.1109/ICCAE.2010.5451512 |
| Language | English |
| Publisher | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Publisher Date | 2010-02-26 |
| Publisher Place | Singapore |
| Access Restriction | Subscribed |
| Rights Holder | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Subject Keyword | Adaptive systems scara robot Three-term control Adaptive control trajectory tracking Fuzzy logic Programmable control Differential equations Kinematics manipulator Trajectory Robots Manipulator dynamics Neuro-fuzzy |
| Content Type | Text |
| Resource Type | Article |
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