Adaptive neural fuzzy control for robot manipulator friction and disturbance compensator

This paper presents an application of an adaptive neuro-fuzzy controller for compensating friction and disturbance effects on robot manipulators. The frictions and disturbances are important parts of the dynamic system of a robot manipulator. However, they are highly nonlinear and not easily modeled...

Ausführliche Beschreibung

Bibliographische Detailangaben

Hauptverfasser:	Vu Minh Hung, Uhn Joo Na
Format:	Tagungsbericht
Sprache:	eng
Schlagworte:	Adaptive control Feedback linearization Friction Friction compensator Fuzzy control Linear feedback control systems Manipulator dynamics Neural Neural networks Neurofeedback PD control Programmable control robot manipulator Robots
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