Abstract

Abstract: A modelling approach for neuro-fuzzy control of a single-link flexible robot manipulator that uses a computer-aided design (CAD) program is proposed. Initially, a CAD model of the flexible link is created using experimentally determined values of system parameters. This CAD model is then exported to MATLAB software and the Simulink/ SimMechanics toolbox. An adaptive-network-based fuzzy logic controller is used for position and vibration control of the flexible link. Experimental and simulation results are presented that validate the proposed approach.