fuzzy logic controller design for intelligent robots
A JAVA system supporting fuzzy controller design in robotics
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The paper addresses the problem of designing fuzzy reactive controllers for robotics applications. Describing the straight association between input and output spaces required by this kind of controllers involves several critical choices (especiall y fuzzification of input
Evolutionary learning of a fuzzy controller for mobile robotics
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Fuzzy control has shown to be a very useful tool in the field of autonomous mobile robotics , characterized by a high uncertainty in the knowledge about the environment where robot evolves. The design of a fuzzy controller is generally made using expert knowledge about
Online tuning of a fuzzy controller in mobile robotics
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The design of behaviors is essential for the con-struction of complex control architectures in mobile robotics . The controller that implements a behavior can be learned in two stages: offline learning stage, and online tuning stage. In this paper we propose a methodology for
Research Article A Neuro- Fuzzy Controller for Collaborative Applications in Robotics Using LabVIEW
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Many problems that affect society can be solved using software and hardware that includes powerful tools from artificial intelligence. For example, determining the amount of money necessary in a specific bank according to the demand, having a database to know the most
Behavior-based neuro- fuzzy controller for mobile robot navigation
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INTRODUCTION FUZZY logic control (FLC) is well suited for controlling a robot because it is capable of making inferences even under uncertainty . Having a hierarchical architecture that divides the FLC into several smaller subsystems will reduce the negative effect that a large
Design PID-Like Fuzzy Controller With Minimum Rule Base and Mathematical Proposed On-line Tunable Gain: Applied to Robot Manipulator
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Abstract In this study, an on-line tunable gain model free PID-like fuzzy controller (GTFLC) is designed for three degrees of freedom (3DOF) robot manipulator to rich the best performance. Fuzzy logic controller is studied because of its model free and high performance. Today, robot
Intelligent controller for mobile robot : Fuzzy logic approach
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A key issue in the research of an autonomous mobile robot is the design and development of an intelligent controller which can control and enables the robot to navigate in a real world environment, avoiding structured and unstructured obstacles especially in crowded and
Using the bees algorithm to tune a fuzzy logic controller for a robot gymnast
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This paper focuses on using the Bees Algorithm to tune the parameters of a fuzzy logic controller developed to stabilise and balance an under-actuated two-link acrobatic robot (ACROBOT) in the upright position. A linear quadratic regulator (LQR) was first developed to
Design sliding mode modified fuzzy linear controller with application to flexible robot manipulator
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Proportional-Integral-Derivative Sliding Mode Controller (MPIDSMC) control used to control a flexible manipulator. The control gain in the MPIDSMC controller has been determined in an empirical way so far. It is a considerable time-consuming process because the control
Design Sliding Mode Controller of with Parallel Fuzzy Inference System Compensator to Control of Robot Manipulator
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Sliding mode controller (SMC) is a significant nonlinear controller under condition of partly uncertain dynamic parameters of system. This controller is used to control of highly nonlinear systems especially for robot manipulators, because this controller is a robust and
A new adaptive neuro- fuzzy controller for trajectory tracking of robot manipulators
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In this paper, an adaptive control method for trajectory tracking of robot manipulators, based on new neuro- fuzzy modelling is presented. The proposed control scheme uses a three- layer neural fuzzy network (NFN) to estimate system uncertainties. The function of robot
Implementing human-acceptable navigational behavior and a fuzzy controller for an autonomous robot
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Robots are just starting to appear in peopled environments but in order to be accepted by humans, they should obey basic peoples social rules. In particular, they have to be able to move around without disturbing people. This means that they have to obey the social rules
ANFIS and fuzzy tuning of PID controller for trajectory tracking of a flexible hydraulically driven parallel robot machine
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Parallel robots exhibit good performance in terms of rigidity, accuracy, and dynamic characteristics. However, parallel robots have complex configurations and their dynamic model is highly nonlinear, and conventional PID controllers are not sufficiently robust for
Artificial control of PUMA robot manipulator: A-review of fuzzy inference engine and application to classical controller
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One of the most important challenges in the field of robotics is robot manipulators control with acceptable performance, because these systems are multi-input multi-output (MIMO), nonlinear and uncertainty. Presently, robot manipulators are used in different (unknown
Design sliding mode controller with parallel fuzzy inference system compensator to control of robot manipulator
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Sliding mode controller (SMC) is a significant nonlinear controller under condition of partly uncertain dynamic parameters of system. This controller is used to control of highly nonlinear systems especially for robot manipulators, because this controller is a robust and
Chemical optimization paradigm applied to a fuzzy tracking controller for an autonomous mobile robot
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This paper addresses the tracking problem for the dynamic model of a unicycle mobile robot . A novel optimization method inspired on the chemical reactions is applied to solve this motion problem by integrating a kinematic and a torque controller based on fuzzy logic
Sugeno Fuzzy Based Navigational Controller of an Intelligent Mobile Robot
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This paper deals with the development of fuzzy inference system in order to solve mobile robot navigation problem. The developed system architecture works on the basis of Sugeno fuzzy type. To achieve the better path by an intelligent mobile robot within its work space, the
A hybrid fuzzy controller for navigation of real mobile robot
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The proposed control mechanism makes mobile robot enable to navigate safely, avoiding structured and unstructured obstacles, in a crowded real world, especially, unpredictably changing environment. Fuzzy logic controllers (FLC), a hybrid of different membership
A fuzzy controller for three dimensional line following of an unmanned autonomous mobile robot
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Abstract Automated Guided Vehicles (AGVs) have many potential applications in manufacturing, medicine, space and defense. The purpose of this thesis is to describe exploratory research on the design of a modular autonomous mobile robot controller . The
Trajectory tracking control for a wheeled mobile robot using fuzzy logic controller .
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A trajectory tracking control for a wheeled mobile robot using fuzzy logic controller (FLC) is presented in this paper. The control algorithm based on the errors in postures of mobile robot which feed FLC, which generates correction signals for the left and right motor speeds
Design Modified Fuzzy PD Gravity Controller with Application to Continuum Robot
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Refer to this research, a position modified parallel error-based fuzzy Proportional Derivative (PD) gravity controller is proposed for continuum robot manipulator. The main problem of the pure conventional nonlinear controller was equivalent dynamic formulation in uncertain
Goal-Seeking Behavior-Based Mobile Robot Using Particle Swarm Fuzzy Controller
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Behavior-based control architecture has successfully demonstrated their competence in mobile robot development. Fuzzy logic system characteristics are suitable to address the behavior design problems. However, there are difficulties encountered when setting fuzzy
Modelling and control of 5DOF robot arm using neuro- fuzzy controller
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Modelling and control of 5 degree of freedom robot arm is the subject of this paper. The modelling consisting of forward and inverse kinematics is derived based on Denavit Harterberg (DH) representation. The main objective of this paper is to control the robot
The design of fuzzy adaptive PID controller of two-wheeled self-balancing robot
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A two-wheeled self-balancing robot system is developed and the hardware system mainly consists of a controller of TMS320LF2407 DSP, a main sensor of Mio-x AHRS module, and other bargain components. The traditional linear controllers have a number of crucial flaws