Soft computing methods applied to the control of a flexible robot manipulator

  title={Soft computing methods applied to the control of a flexible robot manipulator},
  author={B. Subudhi and Alan S. Morris},
  journal={Appl. Soft Comput.},
The paper describes use of soft computing methods (fuzzy logic and neural network techniques) in the development of a hybrid fuzzy neural control (HFNC) scheme for a multi-link flexible manipulator. A manipulator with multiple flexible links is a multivariable system of considerable complexity due to the inter-link coupling effects that are present in both rigid and flexible motions. Modelling and controlling the dynamics of such manipulators is therefore difficult. The proposed HFNC scheme… CONTINUE READING
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