A Neuro-Fuzzy Controller for Collaborative Applications in Robotics Using LabVIEW

Figure 13

Angular displacement model alter applying a group 𝑢 of pulses to the wheels. Point 𝐺^𝑀 represents the point of interest in the robot, and plane 𝑅 is defined from it. (a) Plane 𝑅 before the pulse input, (b) plane 𝑅 after the movement produced by the pulses.