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

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</svg> and plane <svg height="11.3125" id="M216" style="vertical-align:-0.1092pt" version="1.1" viewbox="0 0 11.075 11.3125" width="11.075" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink">
<g transform="matrix(.017,-0,0,-.017,.062,11.113)"><path d="M627 18l-10 -26q-79 6 -116 27t-69 76q-41 71 -71 138q-13 29 -27.5 39t-42.5 10h-46l-27 -145q-13 -74 -2.5 -88.5t78.5 -20.5l-6 -28h-271l5 28q66 6 82.5 21.5t30.5 87.5l71 387q12 66 2 78.5t-77 19.5l8 28h233q102 0 147 -29q65 -43 65 -129q0 -69 -45.5 -117
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</svg>, both in <svg height="16.1" id="M217" style="vertical-align:-0.20474pt" version="1.1" viewbox="0 0 19.275 16.1" width="19.275" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink">
<g transform="matrix(.017,-0,0,-.017,.062,15.775)"><path d="M378 16l-47 -24q-16 -7 -31 -7t-27 6l-130 58q-16 7 -21 14t-5 22v316q0 63 -8 77t-45 19v14l125 64l4 -2v-472l185 -82v-3zM701 30l-75 -38q-16 -7 -31 -7q-36 0 -54 28l-155 232q-23 33 -23 50q0 15 24 27q118 61 118 140q0 35 -22.5 65t-57.5 46l-90 40l-53 -27v-419
q0 -14 -8.5 -22t-34.5 -18h-4v472l71 36l20.5 12.5t26 13.5t22.5 4q13 0 45 -15l72 -33q40 -17 64.5 -50t24.5 -73q0 -100 -140 -179v-3l176 -264q9 -13 46 -13q14 0 30 9z" id="x211C"></path></g>
<g transform="matrix(.012,-0,0,-.012,12.875,7.613)"><path d="M412 140l28 -9q0 -2 -35 -131h-373v23q112 112 161 170q59 70 92 127t33 115q0 63 -31 98t-86 35q-75 0 -137 -93l-22 20l57 81q55 59 135 59q69 0 118.5 -46.5t49.5 -122.5q0 -62 -29.5 -114t-102.5 -130l-141 -149h186q42 0 58.5 10.5t38.5 56.5z" id="x32"></path></g>
</svg>.</table>

Applied Computational Intelligence and Soft Computing

fig14

Figure 14

Figure 14: A Neuro-Fuzzy Controller for Collaborative Applications in Robotics Using LabVIEW 