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Technical University of Crete
Technical University of Crete
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| URI: | http://purl.tuc.gr/dl/dias/B33509FA-0D4C-493F-BA5D-0849C8A22BE6 | ||
| Year | 2022 | ||
| Type of Item | Diploma Work | ||
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| 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 https://doi.org/10.26233/heallink.tuc.92513 | ||
| Appears in Collections |
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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