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Neuro-fuzzy inverse model control structure of robotic manipulators utilized for physiotherapy applications

(in lingua inglese)

This paper proposed a new solution for the problem of trajectory control of robotic manipulators when applied for robotic physiotherapy application. A new neuro-fuzzy inverse dynamics network was developed using input/output data sampled from the robot during free motion under conventional controller. This neuro-fuzzy network forms the feed-forward controller for the proposed control system.

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Fonte: Articolo Ain Shams Engineering Journal, 2013
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