An Adaptive Neuro-Fuzzy Inference System (ANFIS) Approach to Control of Robotic Manipulators

In this paper, Adaptive Neuro Fuzzy Inference System (ANFIS) is used for the controlling of a commercial robot manipulator. A Microbot [1] with three degrees of freedom is utilized to evaluate the proposed methodology. A decentralized ANFIS controller is used for each joint, with a Fuzzy Associative Memories (FAM) performing the inverse kinematics mapping in a supervisory mode. The individual fuzzy controller for each joint generates the required control signal to a DC servo motor to move the associated link to the new position. The simulation experiments indeed demonstrate the effectiveness of the proposed method.

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