Abstract
This paper presents a hybrid controller of soft control techniques, adaptive neuro-fuzzy inference system (ANFIS) and fuzzy logic (FL), and hard control technique, proportional-derivative (PD), for a five-finger robotic hand with 14-degrees-of-freedom (DoF). The ANFIS is used for inverse kinematics of three-link fingers and FL is used for tuning the PD parameters with 2 input layers (error and error rate) using 7 triangular membership functions and 49 fuzzy logic rules. Simulation results with the hybrid of FL-tuned PD controller exhibit superior performance compared to PD, PID and FL controllers alone.
| Original language | English (US) |
|---|---|
| Pages (from-to) | 382-390 |
| Number of pages | 9 |
| Journal | Biomedical Signal Processing and Control |
| Volume | 8 |
| Issue number | 4 |
| DOIs | |
| State | Published - Jul 2013 |
Bibliographical note
Publisher Copyright:©2013 Elsevier Ltd. All rights reserved.
Keywords
- Adaptive neuro-fuzzy inference system
- Fuzzy logic
- Hybrid control
- PD control
- Prosthetic hand
- Robotic hand
- Soft computing
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