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when ω denotes the velocity command determined by FREN and e ( k )isthe
position error defined by q d ( k )
− q ( k )where q d ( k ) is the desired position at time
index k .
The tracking performance for every joints q 1 and q 7 can be illustrated in Fig. 2
and 3, respectively, with theirs error signals. This experimental has been carried
out for all 7 joints but we display only the first and seventh joints because of the
page number limitation.
6Con lu on
An adaptive control based on fuzzy rules emulated networks for 7- DOF robotic
arm has been introduced in this article. The designer knowledge about the
robotic arm including the physical limit has been directly integrated to FRENs
through its IF-THEN rules and initial parameters. To control all DOF, the par-
allel configuration of FRENs has been demonstrated with the closed-loop per-
formance analysis. The variation of learning rate has guaranteed the system
stability along the on-line learning phase. The system validation has been con-
firmed by the experimental setup with Mitsubishi PA-10 robotic arm.
Acknowledgment
The authors would like to thank CONACyT (Project # 84791) for the financial
support through this work.
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