Direct fuzzy adaptive control and nonparametric identification of robot manipulator with elastic joints

In this paper an advanced control system for an elastic joint two-link flexible link robot manipulator is considered. The system uses controller with an adaptive fuzzy logic. Nonlinear friction in the joints is modeled by the Hammerstein system. It is identified by the algorithm based on nonparametric nearest neighbor regression estimation. The asymptotically optimal choice of the parameters of the algorithm are investigated