Year 2017, Volume 18, Issue 4, Pages 819 - 830 2017-10-31

TWO DOF ROBOT CONTROL WITH FUZZY BASED NEURAL NETWORKS

ZAFER ORTATEPE [1] , OSMAN PARLAKTUNA [2]

168 812

In this study, trajectory control of robotic arm which has two degrees of freedom (DOF) is conducted by using the control methods of Proportional-Derivative (PD), Adaptive Neuro Fuzzy System (Anfis), hybrid PD-Anfis and its performance analysis is carried out. In the design of the robot, forward kinematics, inverse kinematics and dynamic equations are used. Firstly, the PD controller is executed, and then the PD controller and Anfis controller are compared applying to a different controller approach with the Anfis of Matlab/Simulink software. The positive and negative sides of the Anfis controller are compared and hybrid PD-Anfis controller method is conducted as a different approach to eliminate the negative sides. While the system constants Kp and Kv are kept constant by the classical PD control method, the output of PD controller is trained with Anfis in the new method and the output value is adjusted according to the error and the change rate of the error. By this way, outputs which have less error rate and which are able to follow the reference better are obtained.

Robot Dynamics, PD Control, Anfis, Neuro-Fuzzy Control
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Subjects Engineering
Journal Section Articles
Authors

Author: ZAFER ORTATEPE
Institution: Ankara Yıldırım Beyazıt University, Energy Systems Engineering
Country: Turkey


Author: OSMAN PARLAKTUNA
Institution: Eskişehir Osmangazi University, Electrical and Electronics Engineering
Country: Turkey


Dates

Publication Date: October 31, 2017

Bibtex @research article { aubtda340002, journal = {ANADOLU UNIVERSITY JOURNAL OF SCIENCE AND TECHNOLOGY A - Applied Sciences and Engineering}, issn = {1302-3160}, eissn = {2146-0205}, address = {Eskişehir Teknik Üniversitesi}, year = {2017}, volume = {18}, pages = {819 - 830}, doi = {10.18038/aubtda.340002}, title = {TWO DOF ROBOT CONTROL WITH FUZZY BASED NEURAL NETWORKS}, key = {cite}, author = {ORTATEPE, ZAFER and PARLAKTUNA, OSMAN} }
APA ORTATEPE, Z , PARLAKTUNA, O . (2017). TWO DOF ROBOT CONTROL WITH FUZZY BASED NEURAL NETWORKS. ANADOLU UNIVERSITY JOURNAL OF SCIENCE AND TECHNOLOGY A - Applied Sciences and Engineering, 18 (4), 819-830. DOI: 10.18038/aubtda.340002
MLA ORTATEPE, Z , PARLAKTUNA, O . "TWO DOF ROBOT CONTROL WITH FUZZY BASED NEURAL NETWORKS". ANADOLU UNIVERSITY JOURNAL OF SCIENCE AND TECHNOLOGY A - Applied Sciences and Engineering 18 (2017): 819-830 <http://dergipark.org.tr/aubtda/issue/31353/340002>
Chicago ORTATEPE, Z , PARLAKTUNA, O . "TWO DOF ROBOT CONTROL WITH FUZZY BASED NEURAL NETWORKS". ANADOLU UNIVERSITY JOURNAL OF SCIENCE AND TECHNOLOGY A - Applied Sciences and Engineering 18 (2017): 819-830
RIS TY - JOUR T1 - TWO DOF ROBOT CONTROL WITH FUZZY BASED NEURAL NETWORKS AU - ZAFER ORTATEPE , OSMAN PARLAKTUNA Y1 - 2017 PY - 2017 N1 - doi: 10.18038/aubtda.340002 DO - 10.18038/aubtda.340002 T2 - ANADOLU UNIVERSITY JOURNAL OF SCIENCE AND TECHNOLOGY A - Applied Sciences and Engineering JF - Journal JO - JOR SP - 819 EP - 830 VL - 18 IS - 4 SN - 1302-3160-2146-0205 M3 - doi: 10.18038/aubtda.340002 UR - https://doi.org/10.18038/aubtda.340002 Y2 - 2017 ER -
EndNote %0 ANADOLU UNIVERSITY JOURNAL OF SCIENCE AND TECHNOLOGY A - Applied Sciences and Engineering TWO DOF ROBOT CONTROL WITH FUZZY BASED NEURAL NETWORKS %A ZAFER ORTATEPE , OSMAN PARLAKTUNA %T TWO DOF ROBOT CONTROL WITH FUZZY BASED NEURAL NETWORKS %D 2017 %J ANADOLU UNIVERSITY JOURNAL OF SCIENCE AND TECHNOLOGY A - Applied Sciences and Engineering %P 1302-3160-2146-0205 %V 18 %N 4 %R doi: 10.18038/aubtda.340002 %U 10.18038/aubtda.340002
ISNAD ORTATEPE, ZAFER , PARLAKTUNA, OSMAN . "TWO DOF ROBOT CONTROL WITH FUZZY BASED NEURAL NETWORKS". ANADOLU UNIVERSITY JOURNAL OF SCIENCE AND TECHNOLOGY A - Applied Sciences and Engineering 18 / 4 (October 2017): 819-830. https://doi.org/10.18038/aubtda.340002
AMA ORTATEPE Z , PARLAKTUNA O . TWO DOF ROBOT CONTROL WITH FUZZY BASED NEURAL NETWORKS. AUJST-A. 2017; 18(4): 819-830.
Vancouver ORTATEPE Z , PARLAKTUNA O . TWO DOF ROBOT CONTROL WITH FUZZY BASED NEURAL NETWORKS. ANADOLU UNIVERSITY JOURNAL OF SCIENCE AND TECHNOLOGY A - Applied Sciences and Engineering. 2017; 18(4): 830-819.