Fuzzy-Neuro Optimal Time-Energy Control of a Three Degrees of Freedom Planar Manipulator

  title={Fuzzy-Neuro Optimal Time-Energy Control of a Three Degrees of Freedom Planar Manipulator},
  author={Amar Khoukhi and Luc Baron and Marek Balazinski and Kudret Demirli},
  journal={NAFIPS 2006 - 2006 Annual Meeting of the North American Fuzzy Information Processing Society},
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… CONTINUE READING


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