Intelligent Control Characteristics of a Miniature Robot Actuator


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Abstract


This paper described the structure of a flexible miniature robotic system which can move in human cavities, it makes inchworm-like movement driven by a 3-DOF pneumatic rubber actuator and holds its positions by air chambers. The driving characteristics in axial and bending directions of the actuator were analyzed and the robot control system was designed. The five-layer neural network controller was proposed to estimate the straight movement and the bending movement of the actuator respectively. The control response of the system by fuzzy neural network, wavelet neural network and fuzzy wavelet basis neural network were studied. Results prove that good static and dynamic control effect of the robotic system can be obtained by the proposed fuzzy wavelet basis neural network.
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Keywords


Intelligent Control; Fuzzy Wavelet Neural Network; Robot Actuator

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References


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