Title :
A Flexible Miniature Robot Based on Fuzzy Wavelet Neural Network Control
Author :
Yan, Guo-Zheng ; Zan, Peng ; Huang, Biao
Author_Institution :
Shanghai Jiaotong Univ., Shanghai
Abstract :
A 3-DOF robot based on inchworm-type motion mechanism is presented for miniature endoscope inspection. The robot is actuated with pneumatic artificial muscle and clamped by two air chambers. The dynamic model of the robot is built. In order to solve the problems of low stiffness and the nonlinear movement characteristic of the robot system, a fuzzy wavelet neural network (FWNN) controller is proposed to control the robot position servo system using the principle of the pulse width-modulation (PWM). Using gradient method the learning of FWNN is performed to find optimal values of the parameters of controller. Result of simulation of the robot control system based on FWNN is compared with the simulation result of the control system based on wavelet neural network (WNN) and fuzzy neural network (FNN). Simulation and experiment results both demonstrate the training of FWNN controller is faster and it can effectively improve the control quality.
Keywords :
endoscopes; fuzzy neural nets; gradient methods; medical robotics; microrobots; mobile robots; pulse width modulation; servomechanisms; 3-DOF robot; FWNN controller; PWM; air chambers; flexible miniature robot; fuzzy neural network; fuzzy wavelet neural network control; gradient method; inchworm-type motion mechanism; miniature endoscope inspection; pneumatic artificial muscle; pulse width-modulation; robot control system; robot position servo system; Artificial neural networks; Control systems; Endoscopes; Fuzzy control; Fuzzy neural networks; Inspection; Neural networks; Nonlinear control systems; Pulse width modulation; Robot control;
Conference_Titel :
Industrial Electronics and Applications, 2007. ICIEA 2007. 2nd IEEE Conference on
Conference_Location :
Harbin
Print_ISBN :
978-1-4244-0737-8
Electronic_ISBN :
978-1-4244-0737-8
DOI :
10.1109/ICIEA.2007.4318616
