Abstract
The work presented in this article concerns the neuro-fuzzy ordering of robot PUMA 560 provided with engines to D.C. current in two spaces, task and articular. The step suggested, in the space of task consists in using the theory of the differential geometry to uncouple the model from the robot to be controlled, thus a neuro-fuzzy structure is introduced into the diagram of order in order to readjust the parameters of the nonlinear controller proposed. As for articular space the structure of synthesized order is based on considerations of stability of Lyapunov of the system to order, thus the law of order which results from this is broken up into two objectives. The first consists in determining the system neuro-fuzzy, the desired optimal couple to apply to each articulation and the second the tension to be sent to the engines. The results of simulation are presented and analyzed to prove the efficiency of the two approaches.
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