Design Parallel Fuzzy Partly Inverse Dynamic Method plus Gravity Control for Highly Nonlinear Continuum Robot

摘要

Refer to this research, a position parallel error-based fuzzy inverse dynamic p lus gravity controller is proposed for continuum robot manipulator. The main problem of the pure inverse dynamic controller was equivalent dynamic formu lation in certain and uncertain systems. The nonlinear equivalent dynamic p roblem in uncertain system is solved by using fuzzy logic theory. To estimate the continuum robot man ipulator system's dynamic, 49 rules Mamdani inference system is design and applied to inverse dynamic p lus gravity methodology. This methodology is based on applied fuzzy logic in equivalent nonlinear dynamic part to estimate unknown parameters. The results demonstrate that the error-based parallel fu zzy inverse dynamic p lus gravity controller is a part ly model-free controllers wh ich wo rks well in certain and partly uncertain system.