Advanced Dynamic Path Control of the Three Links SCARA Using Adaptive Neuro Fuzzy Inference System

Abstract

In this chapter, the feasibility of ANFIS control for a three link SCARA manipulator has been proved and illustrated by simulation. The best parameters for the fuzzy controller were determined by using the ANFIS methodology and by using simulations of the SCARA manipulator dynamics. ANFIS take only few number of iteration to complete the training of membership functions. A simulation tool (i.e., Neuro-Fuzzy logic toolbox (ANFIS)) was used to validate experimentally the tracking ability and the insensibility to SCARA System parameter changes. The ANFIS controller presented very interesting tracking features and was able to respond to different dynamic conditions. In addition, the fuzzy control computation is very inexpensive, and this regulator could be used for the control of machine tools and robotics manipulators [11] without significantly increasing the cost of the drive. The proposed design confirms the fact that fuzzy control is relevant to the fast control of non-linear processes such as SCARA manipulator control where quantitative methods are not always appropriate. Thus, the results obtained using the ANFIS controllers are encouraging when compared to conventional PD controller.