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Control intelligent d'un bras manipulateur
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ISBN10: 6206736687
ISBN13: 9786206736684
Publisher: Editions Universitaires Europeennes
Published: Apr 15 2025
Pages: 140
Weight: 0.43
Height: 0.33 Width: 6.00 Depth: 9.00
Language: French
ISBN13: 9786206736684
Publisher: Editions Universitaires Europeennes
Published: Apr 15 2025
Pages: 140
Weight: 0.43
Height: 0.33 Width: 6.00 Depth: 9.00
Language: French
Le nombre de mouvements pour atteindre une cible bien précise par un bras manipulateur est tout à fait grand, et les fonctions dynamiques du robot sont en général, non-linéaires complexes et variantes dans le temps. Par conséquent, les contrôleurs conventionnels ne sont pas capables de commander efficacement les mouvements sous différentes conditions, vitesse, poids ... . L'objectif de notre travail est de concevoir un système non linéaire basé sur un réseau contrôleur neuro-flou utilisant un apprentissage supervisé, pour effectuer des poursuites de trajectoires par un robot manipulateur. Les identifications de la structure du réseau contrôleur sont effectuées en utilisant le régulateur (ANFIS), avec de nouveaux paramètres et de nouveaux poids synaptiques automatiquement adaptés et ajustés. Enfin, le teste de la robustesse de l'approche proposée a été étudiée en tenant compte des variations des paramètres.
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