Pub Date : 1900-01-01DOI: 10.2316/Journal.206.2011.1.206-3401
D. C. Theodoridis, Y. Boutalis, M. Christodoulou
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 system dynamics is first modelled by a fuzzy system, which in the sequel is approximated by a combination of high order neural networks (HONNs). The overall representation is linear in respect to the unknown NN weights leading to weight adaptation laws that ensure stability and convergence to unique global minimum of the error functional. Due to the adaptive neurofuzzy modelling, the proposed controller is independent of robot dynamics, since the free parameters of the neuro-fuzzy controller are adaptively updated to cope with changes in the system and the environment. Adaptation laws for the network parameters are derived, which ensure network convergence and stable control. A weight hopping technique is also introduced to ensure that the estimated weights stay within pre-specified bounds. The simulation results show very good approximation performance of the proposed representation as compared with a simple NN approximator and very good tracking abilities under disturbance torque compared to conventional computed torque PD control.
{"title":"A New Adaptive Neuro-Fuzzy Controller for Trajectory Tracking of Robot Manipulators","authors":"D. C. Theodoridis, Y. Boutalis, M. Christodoulou","doi":"10.2316/Journal.206.2011.1.206-3401","DOIUrl":"https://doi.org/10.2316/Journal.206.2011.1.206-3401","url":null,"abstract":"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 system dynamics is first modelled by a fuzzy system, which in the sequel is approximated by a combination of high order neural networks (HONNs). The overall representation is linear in respect to the unknown NN weights leading to weight adaptation laws that ensure stability and convergence to unique global minimum of the error functional. Due to the adaptive neurofuzzy modelling, the proposed controller is independent of robot dynamics, since the free parameters of the neuro-fuzzy controller are adaptively updated to cope with changes in the system and the environment. Adaptation laws for the network parameters are derived, which ensure network convergence and stable control. A weight hopping technique is also introduced to ensure that the estimated weights stay within pre-specified bounds. The simulation results show very good approximation performance of the proposed representation as compared with a simple NN approximator and very good tracking abilities under disturbance torque compared to conventional computed torque PD control.","PeriodicalId":206015,"journal":{"name":"Int. J. Robotics Autom.","volume":"11 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129611201","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 1900-01-01DOI: 10.2316/Journal.206.2016.5.206-4619
H. Abidi, M. Chtourou, Khaled Kaaniche, Hassen Mekki
{"title":"Saliency-based robust Features for Global Visual servoing","authors":"H. Abidi, M. Chtourou, Khaled Kaaniche, Hassen Mekki","doi":"10.2316/Journal.206.2016.5.206-4619","DOIUrl":"https://doi.org/10.2316/Journal.206.2016.5.206-4619","url":null,"abstract":"","PeriodicalId":206015,"journal":{"name":"Int. J. Robotics Autom.","volume":"5 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129771963","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 1900-01-01DOI: 10.2316/Journal.206.2016.3.206-4362
Juan Manuel Ramos Arreguín, S. Tovar-Arriaga, J. E. Soto, M. Aceves-Fernández
{"title":"Fpga Embedded PD control of a 1 DOF manipulator with a pneumatic actuator","authors":"Juan Manuel Ramos Arreguín, S. Tovar-Arriaga, J. E. Soto, M. Aceves-Fernández","doi":"10.2316/Journal.206.2016.3.206-4362","DOIUrl":"https://doi.org/10.2316/Journal.206.2016.3.206-4362","url":null,"abstract":"","PeriodicalId":206015,"journal":{"name":"Int. J. Robotics Autom.","volume":"43 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128546819","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
{"title":"Bend angle and contact force on Soft pneumatic gripper for grasping cylindrical-shaped Different-Sized Objects","authors":"Venkatesan Vellaiyan, Shanmugam Subramaniam, Veerappan Arunachalam","doi":"10.2316/j.2021.206-0622","DOIUrl":"https://doi.org/10.2316/j.2021.206-0622","url":null,"abstract":"","PeriodicalId":206015,"journal":{"name":"Int. J. Robotics Autom.","volume":"51 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129269324","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 1900-01-01DOI: 10.2316/Journal.206.2016.1.206-4235
M. Sadeghzadeh, D. Calvert, H. Abdullah
{"title":"Autonomous Visual servoing of a robot manipulator using Reinforcement Learning","authors":"M. Sadeghzadeh, D. Calvert, H. Abdullah","doi":"10.2316/Journal.206.2016.1.206-4235","DOIUrl":"https://doi.org/10.2316/Journal.206.2016.1.206-4235","url":null,"abstract":"","PeriodicalId":206015,"journal":{"name":"Int. J. Robotics Autom.","volume":"31 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130368754","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
{"title":"Obstacle Recognition for Intelligent Vehicle based on radar and Vision fusion","authors":"Zhenhua Pan, Kewei Li, Hongbin Deng, Yiran Wei","doi":"10.2316/J.2021.206-0478","DOIUrl":"https://doi.org/10.2316/J.2021.206-0478","url":null,"abstract":"","PeriodicalId":206015,"journal":{"name":"Int. J. Robotics Autom.","volume":"30 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130401165","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 1900-01-01DOI: 10.2316/Journal.206.2018.4.206-5095
Mingzhong Yan, Bin-Bin Huang, Daqi Zhu, Simon X. Yang
{"title":"A Novel Segmentation method based on Grayscale wave for underwater Images","authors":"Mingzhong Yan, Bin-Bin Huang, Daqi Zhu, Simon X. Yang","doi":"10.2316/Journal.206.2018.4.206-5095","DOIUrl":"https://doi.org/10.2316/Journal.206.2018.4.206-5095","url":null,"abstract":"","PeriodicalId":206015,"journal":{"name":"Int. J. Robotics Autom.","volume":"5 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130415639","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 1900-01-01DOI: 10.2316/Journal.206.2018.6.206-5092
Lixia Deng, Xin Ma, J. Gu, Yibin Li
{"title":"Detection and Repair of Coverage Holes in Mobile Sensor Networks using sub-Voronoi cells","authors":"Lixia Deng, Xin Ma, J. Gu, Yibin Li","doi":"10.2316/Journal.206.2018.6.206-5092","DOIUrl":"https://doi.org/10.2316/Journal.206.2018.6.206-5092","url":null,"abstract":"","PeriodicalId":206015,"journal":{"name":"Int. J. Robotics Autom.","volume":"57 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126673422","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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