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http://bura.brunel.ac.uk/handle/2438/29255| Title: | Consistent Control Framework for Ambidextrous Robot Arm Using MANFIS Controller |
| Authors: | Mukhtar, M Khudher, D Kalganova, T |
| Keywords: | dynamic control;task and motion planning;kinematic analysis;ANFIS controller;3D printed |
| Issue Date: | 23-May-2021 |
| Publisher: | INTERNATIONAL ASET on behalf of Avestia |
| Citation: | Mukhtar, M., Khudher, D. and Kalganova, T. (2021) 'Consistent Control Framework for Ambidextrous Robot Arm Using MANFIS Controller', Proceedings of the 8th International Conference of Control Systems, and Robotics (CDSR'21), Virtual, 23-25 May, pp. 1 - 10. doi: 10.11159/cdsr21.101. |
| Abstract: | This paper presents a control strategy to control an Ambidextrous robot arm. The idea is based on combining of Proportional Integral Derivative (PID) with Neural Network (NN) and Multiple Adaptive Neuro-fuzzy Inference (MANFIS) controller with selector block. This unique set of combination is used to solve the problem of inverse kinematics and to get a stable dynamic response in different situations. The results obtained from the experiments proved the effectiveness of the controllers in term of performing multiple tasks and dynamic stability. |
| URI: | https://bura.brunel.ac.uk/handle/2438/29255 |
| DOI: | https://doi.org/10.11159/cdsr21.101 |
| ISBN: | 978-1-927877-87-6 |
| Other Identifiers: | ORCiD: Tatiana Kalganova https://orcid.org/0000-0003-4859-7152 |
| Appears in Collections: | Dept of Electronic and Electrical Engineering Research Papers |
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| FullText.pdf | © Copyright 2021 Authors. This is an Open Access article published under the Creative Commons Attribution License terms. Unrestricted use, distribution, and reproduction in any medium are permitted, provided the original work is properly cited. | 877.48 kB | Adobe PDF | View/Open |
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