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An ion polymer metal composite (IPMC) is an electro-active polymer that bends in response to a small applied electrical field as a result of mobility of cations in the polymer network and vice versa. This paper presents a novel accurate nonlinear black-box model (NBBM) for estimating the bending behavior of IPMC. The NBBM is based on a recurrent multi-layer perceptron neural network (RMLPNN) and a...
In this paper, a novel inverse double nonlinear autoregressive with exogenous input (NARX) fuzzy model is applied to simultaneously model and identify both joints of the prototype two-axis pneumatic artificial muscle (PAM) robot arm's inverse dynamic model. Highly nonlinear features of both joints of the nonlinear manipulator system are identified by the proposed inverse double NARX fuzzy (IDNF) model...
In this paper, a novel inverse dynamic MIMO NARX model is used for modeling and identifying simultaneously both of joints of the prototype 2-axes PAM robot armpsilas inverse dynamic model. The contact force variations and highly nonlinear coupling features of both links of the 2-axes PAM robot arm are modeled thoroughly through an inverse neural MIMO NARX model-based identification process using experiment...
This paper presents the design, development and implementation of an adaptive Takagi-Sugeno fuzzy neural networks (A-FNN) controller suitable for real-time manipulator control applications. The unique feature of the A-FNN controller is that it has dynamic self-organizing structure, fast learning speed, good generalization and flexibility in learning. The proposed adaptive algorithm focuses on fast...
The development of a fast, accurate, and inexpensive position-controlled pneumatic actuator that may be applied to a variety of practical positioning applications with various external loads is described in this paper. A novel modified pulse width modulation (PWM) valve pulsing algorithm allows on/off solenoid valves to be used in place of costly servo valves. A state feedback controller with position,...
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