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Identification and Control of Three-Links Electrically Driven Robot Arm Using Fuzzy Neural Networks
Salam A. Abdulkereem, Abduladhem A. Ali
Pages - 14 - 26     |    Revised - 31-03-2011     |    Published - 04-04-2011
Volume - 2   Issue - 1    |    Publication Date - March / April 2011  Table of Contents
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KEYWORDS
Fuzzy Neural Control, Robot Control, Forward Adaptive Control, Inverse Control, Adaptive Systems
ABSTRACT
This paper uses a fuzzy neural network (FNN) structure for identifying and controlling nonlinear dynamic systems such three links robot arm. The equation of motion for three links robot arm derived using Lagrange’s equation. This equation then combined with the equations of motion for dc. servo motors which actuated the robot. For the control problem, we present the forward and inverse adaptive control approaches using the FNN. Computer simulation is performed to view the results for identification and control
CITED BY (1)  
1 Khurpade, J. B., Dhami, S. S., & Banwait, S. S. (2011, January). A Review of Fuzzy Logic Based Control of Robotic Manipulators. In ASME 2011 International Mechanical Engineering Congress and Exposition (pp. 241-257). American Society of Mechanical Engineers.
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Mr. Salam A. Abdulkereem
University of Basrah - Iraq
salam_eng@yahoo.com
Dr. Abduladhem A. Ali
- Iraq


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