Dergiler / Sakarya Üniversitesi Fen Bilimleri Enstitüsü Dergisi / 2013 / Cilt: 17 - Sayı: 1
Bulanık Yapay Sinir Ağıyla Dört Serbestlik Dereceli bir Robot Kolunun Kontrolu
- Sayfa
- 131–138
- DOI
- —
Özet
In this study, the control of four degree freedom robot arm has been realized with the computed torque control method.. It is usually required that the four jointed robot arm has high precision capability and good maneuverability for using in industrial applications. Besides, high speed working and external applied loads have been acting as important roles. For those purposes, the computed torque control method has been developed in a good manner that the robot arm can track the given trajectory, which has been able to enhance the feedback control together with fuzzy neural network control. The simulation results have proved that the computed torque control with the neural network has been so successful in robot control.
Abstract
In this study, the control of four degree freedom robot arm has been realized with the computed torque control method.. It is usually required that the four jointed robot arm has high precision capability and good maneuverability for using in industrial applications. Besides, high speed working and external applied loads have been acting as important roles. For those purposes, the computed torque control method has been developed in a good manner that the robot arm can track the given trajectory, which has been able to enhance the feedback control together with fuzzy neural network control. The simulation results have proved that the computed torque control with the neural network has been so successful in robot control.