DocumentCode :
2681717
Title :
Fuzzy-Neuro Optimal Time-Energy Control of a Three Degrees of Freedom Planar Manipulator
Author :
Khoukhi, Amar ; Baron, Luc ; Balazinski, Marek ; Demirli, Kudret
Author_Institution :
Dept. of Mech. Eng., Ecole Polytech., Montreal, Que.
fYear :
2006
fDate :
3-6 June 2006
Firstpage :
247
Lastpage :
252
Abstract :
In this paper, the optimal time-energy trajectory planning problem for a three degrees-of-freedom planar manipulator is considered using a multi-level fuzzy-neural system. First, a neural network is achieved to solve the inverse kinematics problem (IKP). After pre-processing steps characterizing the minimum time trajectory and the corresponding torques, a fuzzy-neuro controller is developed to deal with the minimum energy trajectory planning. The basic function of this controller is to select the minimum energy link actuator torques allowing the robot end-effector to move from a starting point S to a target point T. This optimization is performed under actuators and workspace constraints. It starts with a fuzzy clustering of input-output data, uses Tsukamoto fuzzy inference and back-propagation algorithm to train the resulting adaptive neural network. The premises parameters (antecedent membership functions parameters) as well as rule-consequence parameters are then learned and optimized, giving the optimal energy torques. Simulation results are provided to prove the efficiency of the proposal
Keywords :
end effectors; fuzzy neural nets; manipulator kinematics; neurocontrollers; position control; backpropagation algorithm; freedom planar manipulator; fuzzy inference; fuzzy-neuro optimal time-energy control; inverse kinematics problem; multi-level fuzzy-neural system; optimal time-energy trajectory planning problem; robot end-effector; Actuators; Clustering algorithms; Constraint optimization; Fuzzy neural networks; Kinematics; Neural networks; Optimal control; Robots; Torque control; Trajectory; Fuzzy-Neuro Control; Minimum Time-Energy Trajectory Planning; Neural Inverse Kinematic; Robot Manipulators;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Fuzzy Information Processing Society, 2006. NAFIPS 2006. Annual meeting of the North American
Conference_Location :
Montreal, Que.
Print_ISBN :
1-4244-0363-4
Electronic_ISBN :
1-4244-0363-4
Type :
conf
DOI :
10.1109/NAFIPS.2006.365416
Filename :
4216809
Link To Document :
بازگشت