Excellence in Research and Innovation for Humanity
%0 Journal Article
%A A. Ghaffari and  A. Meghdari and  D. Naderi and  S. Eslami
%D 2008 
%J  International Journal of Mechanical, Aerospace, Industrial, Mechatronic and Manufacturing Engineering
%B World Academy of Science, Engineering and Technology
%I International Science Index 21, 2008
%T Tipover Stability Enhancement of Wheeled Mobile Manipulators Using an Adaptive Neuro- Fuzzy Inference Controller System
%U http://waset.org/publications/10912
%V 21
%X In this paper an algorithm based on the adaptive
neuro-fuzzy controller is provided to enhance the tipover stability of
mobile manipulators when they are subjected to predefined
trajectories for the end-effector and the vehicle. The controller
creates proper configurations for the manipulator to prevent the robot
from being overturned. The optimal configuration and thus the most
favorable control are obtained through soft computing approaches
including a combination of genetic algorithm, neural networks, and
fuzzy logic. The proposed algorithm, in this paper, is that a look-up
table is designed by employing the obtained values from the genetic
algorithm in order to minimize the performance index and by using
this data base, rule bases are designed for the ANFIS controller and
will be exerted on the actuators to enhance the tipover stability of the
mobile manipulator. A numerical example is presented to
demonstrate the effectiveness of the proposed algorithm.
%P 1019 - 1025