TY - JFULL AU - Rafael Jorge Menezes Santos and Ginalber Luiz de Oliveira Serra and Carlos César Teixeira Ferreira PY - 2010/11/ TI - Formulation, Analysis and Validation of Takagi-Sugeno Fuzzy Modeling For Robotic Monipulators T2 - International Journal of Mechanical and Mechatronics Engineering SP - 1130 EP - 1136 VL - 4 SN - 1307-6892 UR - https://publications.waset.org/pdf/6476 PU - World Academy of Science, Engineering and Technology NX - Open Science Index 46, 2010 N2 - 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. ER -