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Control of Robotic Arm using Neuro-fuzzy Systems

Pentaris Dimitrios

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Year 2022
Type of Item Diploma Work
Bibliographic Citation Dimitrios Pentaris, "Control of Robotic Arm using Neuro-fuzzy Systems", Diploma Work, School of Electrical and Computer Engineering, Technical University of Crete, Chania, Greece, 2022
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Intelligent mechanical systems, which are equipped with sensors and exciters made of piezoelectric materials, interact with the environment through an active control mechanism. One such example is the case of a robotic arm. However, due to imperfections in the mechanical model, but also in the sensory organs, a certain degree of uncertainty always enters the system. Classic control can operate under conditions of uncertainty, but with reduced efficiency.Designing nonlinear feedback control rules using classical methods is a difficult task. It is therefore recommended to use intelligent control techniques, which are based on neurofuzzy systems.The aim of this work is the development of a reliable neurofuzzy control system in MATLAB (Simulink) environment and its connection to a mechanical robotic arm system of 2 degrees of freedom. The techniques that will be developed in the context of this work are suitable for solving linear and non-linear systems and can be applied in a numeral of different applications.

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