An integration of fuzzy controller and modified Elman neural networks (NN) approximation-
based computed-torque controller is proposed for motion control of autonomous
manipulators in dynamic and partially known environments containing moving obstacles.
The fuzzy controller is based on artificial potential fields using analytic harmonic functions, a
navigation technique common used in robot control. The NN controller can deal with
unmodeled bounded disturbances and/or unstructured unmodeled dynamics of the robot …

An integration of a fuzzy controller and modified Elman neural networks (NN) approximation-
based computed-torque controller is proposed for motion control of autonomous
manipulators in dynamic and partially known environments containing moving obstacles.
The navigation technique of robot control using artificial potential fields is based on the fuzzy
controller. The NN controller can deal with unmodeled bounded disturbances and or
unstructured unmodeled dynamics of the robot arm. The NN weights are tuned online, with …