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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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