TWO DOF ROBOT CONTROL WITH FUZZY BASED NEURAL NETWORKS

Year 2017, Volume: 18 Issue: 4, 819 - 830, 31.10.2017

Zafer Ortatepe , Osman Parlaktuna

https://doi.org/10.18038/aubtda.340002

Cited By: 3

Abstract

In this study, trajectory control of robotic arm which has two degrees of
freedom (DOF) is conducted by using the control methods of
Proportional-Derivative (PD), Adaptive Neuro Fuzzy System (Anfis), hybrid
PD-Anfis and its performance analysis is carried out. In the design of the robot,
forward kinematics, inverse kinematics and dynamic equations are used. Firstly,
the PD controller is executed, and then the PD controller and Anfis controller
are compared applying to a different controller approach with the Anfis of
Matlab/Simulink software. The positive and negative sides of the Anfis
controller are compared and hybrid PD-Anfis controller method is conducted as a
different approach to eliminate the negative sides. While the system constants
K_p and K_v are kept constant by the classical PD control
method, the output of PD controller is trained with Anfis in the new method and
the output value is adjusted according to the error and the change rate of the
error. By this way, outputs which have less error rate and which are able to
follow the reference better are obtained.

Keywords

Robot Dynamics, PD Control, Anfis, Neuro-Fuzzy Control

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