Multiple fuzzy control of a robot manipulator

Sangho Jin, Keigo Watanabe, Masatoshi Nakamura

Research output: Contribution to journalArticle

3 Citations (Scopus)

Abstract

A learning fuzzy controller is described for controlling a robot manipulator. The learning controller used here is called a multiple fuzzy controller, in which several elemental fuzzy controllers are processed in parallel and the degree of usage of each inferred consequent is determined by using a linear neural network. Two learning algorithms are considered in the framework of the specialized learning architecture: one is based on minimizing the squared sum of the trajectory error for each link and the other is based on directly minimizing the trajectory squared error for each link. The effectiveness of the proposed controller is illustrated by making some simulations for a two-link manipulator.

Original languageEnglish
Pages (from-to)158-164
Number of pages7
JournalNihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C
Volume59
Issue number557
Publication statusPublished - Jan 1993
Externally publishedYes

Fingerprint

Fuzzy control
Manipulators
Robots
Controllers
Trajectories
Learning algorithms
Neural networks

ASJC Scopus subject areas

  • Mechanical Engineering

Cite this

Multiple fuzzy control of a robot manipulator. / Jin, Sangho; Watanabe, Keigo; Nakamura, Masatoshi.

In: Nihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C, Vol. 59, No. 557, 01.1993, p. 158-164.

Research output: Contribution to journalArticle

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