%0 Journal Article
	%A Rafael Jorge Menezes Santos and  Ginalber Luiz de Oliveira Serra and  Carlos César Teixeira Ferreira
	%D 2010
	%J International Journal of Mechanical and Mechatronics Engineering
	%B World Academy of Science, Engineering and Technology
	%I Open Science Index 46, 2010
	%T Formulation, Analysis and Validation of Takagi-Sugeno Fuzzy Modeling For Robotic Monipulators
	%U https://publications.waset.org/pdf/6476
	%V 46
	%X This paper proposes a methodology for analysis of
the dynamic behavior of a robotic manipulator in continuous
time. Initially this system (nonlinear system) will be decomposed
into linear submodels and analyzed in the context of the Linear
and Parameter Varying (LPV) Systems. The obtained linear
submodels, which represent the local dynamic behavior of the
robotic manipulator in some operating points were grouped in
a Takagi-Sugeno fuzzy structure. The obtained fuzzy model was
analyzed and validated through analog simulation, as universal
approximator of the robotic manipulator.
	%P 1131 - 1136