An arms body-building system using fuzzy control

An arm body-building system with virtual mechanism connection is presented in this paper. Applied the cross-couple effect, proposed system will be the same as the conventional body-building mechanisms. This research includes an impedance controller and recurrent fuzzy neural networks which compensates the virtual cross-couple position error. The stability analysis and update law of the fuzzy neural networks are discussed and derived using Lyapunov stability theorem. The experimental results demonstrate the system feasibility and reliability. The proposed control scheme guarantees the system with good tracking performance in synchronous and independent mode.