Appendix Analysis from Ultrasonography with Cubic Spline Interpolation and K-Means Clustering

Abstract

Abstract Computed torque controller (CTC) is one of the types of feedback linearization nonlinear controller. This controller works very well in certain positions. However this controller has many advantages in certain conditions but it has challenges in uncertainty. The main challenge in CTC is fluctuations in uncertainties. In this research low pass filter is used to reduce the fluctuations in CTC. To improve the result of this controller intelligent CTC is recommended based on fuzzy logic engineering. In this research fuzzy logic theory is used to tune the new low pass filter CTC coefficients. The process of setting of integral intelligent Computed Torque Controller can be determined as an optimization task. Over the years, use of intelligent strategies for tuning of these controllers has been growing. This research is used to reduce or eliminate the computed torque controller problem based on low pass filter and fuzzy logic theory to control of flexible robot manipulator system and testing of the quality of process control in the simulation environment of MATLAB/SIMULINK Simulator.