Ms. Azadeh Shariati Profile

Azadeh Shariati

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Proceedings Article | 4 September 2008 Paper

Intelligent control of an IPMC actuated manipulator using emotional learning-based controller

Azadeh Shariati, Ali Meghdari, Parham Shariati

Proceedings Volume 7029, 70291J (2008) https://doi.org/10.1117/12.794375

KEYWORDS: Control systems, Actuators, Robots, Composites, Metals, Robotics, Fuzzy logic, Neural networks, Sensors, Polymers

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In this research an intelligent emotional learning controller, Takagi- Sugeno- Kang (TSK) is applied to govern the dynamics of a novel Ionic-Polymer Metal Composite (IPMC) actuated manipulator. Ionic-Polymer Metal Composites are active actuators that show very large deformation in existence of low applied voltage. In this research, a new IPMC actuator is considered and applied to a 2-dof miniature manipulator. This manipulator is designed for miniature tasks. The control system consists of a set of neurofuzzy controller whose parameters are adapted according to the emotional learning rules, and a critic with task to assess the present situation resulted from the applied control action in terms of satisfactory achievement of the control goals and provides the emotional signal (the stress). The controller modifies its characteristics so that the critic's stress decreased.

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