Fuzzy identifier based inverse dynamics control for a 3-dof articulated manipulator

Kemalettin Erbatur, Okyay Kaynak, I. Rudas

Research output: Chapter in Book/Report/Conference proceedingChapter

5 Citations (Scopus)

Abstract

A method using fuzzy logic and neural network structures for the identification and control of robot dynamics is presented in this paper. Fuzzy identifiers are employed to match the effects in the robot dynamics model. Fuzzy logic systems used are represented as three-layer feed-forward neural networks. Fuzzy system parameters are adjusted via back-propagation. An on-line tuning algorithm is employed. Simulation results obtained with a three degrees of freedom articulated arm are given.

Original languageEnglish
Title of host publicationIECON Proceedings (Industrial Electronics Conference)
Editors Anon
PublisherIEEE Comp Soc
Pages1052-1056
Number of pages5
Volume3
Publication statusPublished - 1997
EventProceedings of the 1997 23rd Annual International Conference on Industrial Electronics, Control, and Instrumentation, IECON. Part 2 (of 4) - New Orleans, LA, USA
Duration: Nov 9 1997Nov 14 1997

Other

OtherProceedings of the 1997 23rd Annual International Conference on Industrial Electronics, Control, and Instrumentation, IECON. Part 2 (of 4)
CityNew Orleans, LA, USA
Period11/9/9711/14/97

Fingerprint

Fuzzy logic
Manipulators
Robots
Feedforward neural networks
Fuzzy systems
Backpropagation
Dynamic models
Tuning
Neural networks

ASJC Scopus subject areas

  • Electrical and Electronic Engineering

Cite this

Erbatur, K., Kaynak, O., & Rudas, I. (1997). Fuzzy identifier based inverse dynamics control for a 3-dof articulated manipulator. In Anon (Ed.), IECON Proceedings (Industrial Electronics Conference) (Vol. 3, pp. 1052-1056). IEEE Comp Soc.

Fuzzy identifier based inverse dynamics control for a 3-dof articulated manipulator. / Erbatur, Kemalettin; Kaynak, Okyay; Rudas, I.

IECON Proceedings (Industrial Electronics Conference). ed. / Anon. Vol. 3 IEEE Comp Soc, 1997. p. 1052-1056.

Research output: Chapter in Book/Report/Conference proceedingChapter

Erbatur, K, Kaynak, O & Rudas, I 1997, Fuzzy identifier based inverse dynamics control for a 3-dof articulated manipulator. in Anon (ed.), IECON Proceedings (Industrial Electronics Conference). vol. 3, IEEE Comp Soc, pp. 1052-1056, Proceedings of the 1997 23rd Annual International Conference on Industrial Electronics, Control, and Instrumentation, IECON. Part 2 (of 4), New Orleans, LA, USA, 11/9/97.
Erbatur K, Kaynak O, Rudas I. Fuzzy identifier based inverse dynamics control for a 3-dof articulated manipulator. In Anon, editor, IECON Proceedings (Industrial Electronics Conference). Vol. 3. IEEE Comp Soc. 1997. p. 1052-1056
Erbatur, Kemalettin ; Kaynak, Okyay ; Rudas, I. / Fuzzy identifier based inverse dynamics control for a 3-dof articulated manipulator. IECON Proceedings (Industrial Electronics Conference). editor / Anon. Vol. 3 IEEE Comp Soc, 1997. pp. 1052-1056
@inbook{26da11098e314300b71e17c452a36e20,
title = "Fuzzy identifier based inverse dynamics control for a 3-dof articulated manipulator",
abstract = "A method using fuzzy logic and neural network structures for the identification and control of robot dynamics is presented in this paper. Fuzzy identifiers are employed to match the effects in the robot dynamics model. Fuzzy logic systems used are represented as three-layer feed-forward neural networks. Fuzzy system parameters are adjusted via back-propagation. An on-line tuning algorithm is employed. Simulation results obtained with a three degrees of freedom articulated arm are given.",
author = "Kemalettin Erbatur and Okyay Kaynak and I. Rudas",
year = "1997",
language = "English",
volume = "3",
pages = "1052--1056",
editor = "Anon",
booktitle = "IECON Proceedings (Industrial Electronics Conference)",
publisher = "IEEE Comp Soc",

}

TY - CHAP

T1 - Fuzzy identifier based inverse dynamics control for a 3-dof articulated manipulator

AU - Erbatur, Kemalettin

AU - Kaynak, Okyay

AU - Rudas, I.

PY - 1997

Y1 - 1997

N2 - A method using fuzzy logic and neural network structures for the identification and control of robot dynamics is presented in this paper. Fuzzy identifiers are employed to match the effects in the robot dynamics model. Fuzzy logic systems used are represented as three-layer feed-forward neural networks. Fuzzy system parameters are adjusted via back-propagation. An on-line tuning algorithm is employed. Simulation results obtained with a three degrees of freedom articulated arm are given.

AB - A method using fuzzy logic and neural network structures for the identification and control of robot dynamics is presented in this paper. Fuzzy identifiers are employed to match the effects in the robot dynamics model. Fuzzy logic systems used are represented as three-layer feed-forward neural networks. Fuzzy system parameters are adjusted via back-propagation. An on-line tuning algorithm is employed. Simulation results obtained with a three degrees of freedom articulated arm are given.

UR - http://www.scopus.com/inward/record.url?scp=0031389450&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=0031389450&partnerID=8YFLogxK

M3 - Chapter

VL - 3

SP - 1052

EP - 1056

BT - IECON Proceedings (Industrial Electronics Conference)

A2 - Anon, null

PB - IEEE Comp Soc

ER -