An advanced robot control scheme using ANN and fuzzy theory based solutions

Due to the essential development of different means of numerical computation in the last years, new prospects have been opened for realization of different advanced control methods as conventional reasoning, fuzzy rule or ANN-based AI controls. However, it can clearly be seen, that each of these methods have significant technological limits making it expedient to seek compromises between the application of such methods and certain particular hardware solutions designed for a concrete problem. The aim of this paper is to show that in quite wide a range of practically important control tasks appropriate hardware solutions can be elaborated and combined with the above methods. A particular control method will be investigated which is robust with respect to the inertia of the workpiece carried by the robot, and capable to be combined with the conventional fuzzy control methods or the ANN-based ones. A computer simulation is used to demonstrate the advantages of the method.