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In this paper; Fuzzy control and Adaptive Network based Fuzzy Interference System (ANFIS) techniques have been investigated for decentralised joint position control of an four DOF robotic arm for desired motion. Four different types of membership functions like Triangular; Pi; Gaussian; Dsigmf are implemented in the fuzzy PD and ANFIS controller. The performance of controller is evaluated and compared...
Conventional controllers usually require a prior knowledge of mathematical modeling of the process. The inaccuracy of mathematical modeling degrades the performance of the process, especially for non-linear and complex control problem. To overcome above difficulties intelligent controllers like Fuzzy Logic (FL) and Adaptive Neuro-Fuzzy Inference System (ANFIS), are implemented. The Fuzzy controller...
In the present work a simulation model for the position control of a two-link-robot has been developed. The position controls have been performed over two joint axes, using brushless DC motor. A brushless DC motor drive included in the present model comprises two position control loop, i.e. speed and torque control, for studying and analyzing the movement of robot over different axes. Five different...
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