Neuron control based on RBF network and fuzzy scheme for a direct drive robot

The neuron control method based on RBF network and fuzzy scheme is proposed for a direct drive robot. In this intelligent control system, the RBF network is used to update the weights of neuron controller on-line according to the nearest neighbor-clustering algorithm. And a fuzzy scheme is designed to tune the neuron controller gain on-line. With the example of a direct drive robot manipulator with uncertainties and external coupling, the experiments of applying the proposed control method are made. The simulation results demonstrate that the proposed method can efficiently control the independent joint of the direct drive robot.