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Artificial Control of PUMA Robot Manipulator: A-Review of Fuzzy Inference Engine and Application to Classical Controller
Farzin Piltan, SH. Tayebi HAGHIGHI, N. Sulaiman, Iman Nazari, Sobhan Siamak
Pages - 401 - 425     |    Revised - 01-11-2011     |    Published - 15-12-2011
Volume - 2   Issue - 5    |    Publication Date - November / December 2011  Table of Contents
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KEYWORDS
PUMA Robot Manipulator, Classical Controller, Artificial Intelligence Controller, Fuzzy logic Theory
ABSTRACT
One of the most important challenges in the field of robotics is robot manipulators control with acceptable performance, because these systems are multi-input multi-output (MIMO), nonlinear and uncertainty. Presently, robot manipulators are used in different (unknown and/or unstructured) situation consequently caused to provide complicated systems, as a result strong mathematical theory are used in new control methodologies to design nonlinear robust controller with acceptable performance (e.g., minimum error, good trajectory, disturbance rejection). Classical and non-classical methods are two main categories of robot manipulators control, where the conventional (classical) control theory uses the classical method and the non-classical control theory (e.g., fuzzy logic, neural network, and neuro fuzzy) uses the artificial intelligence methods. However both of conventional and artificial intelligence theories have applied effectively in many areas, but these methods also have some limitations. This paper is focused on review of fuzzy logic controller and applied to PUMA robot manipulator.
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Mr. Farzin Piltan
UPM - Malaysia
SSP.ROBOTIC@yahoo.com
Mr. SH. Tayebi HAGHIGHI
- Iran
Mr. N. Sulaiman
- Malaysia
Mr. Iman Nazari
- Iran
Mr. Sobhan Siamak
- Iran


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