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Fuzzy neural network control of the rehabilitation robotic arm driven by pneumatic muscles

Xianzhi Jiang (Faculty of Mechanical Engineering & Automation, Zhejiang Sci-Tech University, Hangzhou, China)
Zenghuai Wang (Department of Mechanical Science and Engineering, Huazhong University of Science & Technology, China)
Chao Zhang (Department of Internal Neurology, First Affiliated Hospital of Zhejiang University, Hangzhou, China)
Liangliang Yang (Faculty of Mechanical Engineering & Automation, Zhejiang Sci-Tech University, Hangzhou, China)

Industrial Robot

ISSN: 0143-991x

Article publication date: 19 January 2015

Abstract

Purpose

The main purpose of this paper is to enhance the control performance of the robotic arm by the controller of fuzzy neural network (FNN).

Design/methodology/approach

The robot system has characters of high order, time delay, time variation and serious nonlinearity. The classical PID controller cannot achieve satisfactory performance in control of such a complex system. This paper combined the fuzzy control with neural networks and established the FNN controller and applied it in control of the robot.

Findings

The experimental results showed that the FNN controller had excellent performances in position control of the rehabilitation robotic arm such as fast response, small overshoot and small vibration.

Research limitations/implications

This work is focused on the static FNN algorithm by updating the second and fifth layers of the membership functions. The performance can be improved further if the third layer (reasoning layer) can be updated online.

Originality/value

Based on a hierarchical structure of the FNN controller, this paper designed the FNN controller and applied it in control of the rehabilitation robot driven by pneumatic muscles.

Keywords

Acknowledgements

This work is supported by Science Foundation of Zhejiang Sci-Tech University (ZSTU, Grant No.13022152-Y), the Intelligent Multi-Color 3D Printer (ZSTU, Grant No.14020089-J) and the Zhejiang Scientific Research Foundation of Chinese Medicine Program (2013ZB060).

Citation

Jiang, X., Wang, Z., Zhang, C. and Yang, L. (2015), "Fuzzy neural network control of the rehabilitation robotic arm driven by pneumatic muscles", Industrial Robot, Vol. 42 No. 1, pp. 36-43. https://doi.org/10.1108/IR-07-2014-0374

Publisher

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Emerald Group Publishing Limited

Copyright © 2015, Emerald Group Publishing Limited