Neural network based identification of robot dynamics used for neuro-fuzzy controller

摘要

A technique of identifying the dynamics of a robotics system using neural network is presented. The identified model is used by a fuzzy controller to evaluate the range of the control variables and also the performance of the adaptive control laws on the identified model. An overview of the neuro-fuzzy control architecture is also discussed. This architecture uses two neural networks, one which identifies the system dynamics and another classifies the temporal response of the robotic system. The information from the neural networks is used to make suitable adjustments in the parameter of the fuzzy controller. This paper however concentrates on the theory and operation of identifying the dynamics of a Adept-Two industrial robot. Simulation results are presented.