The new architecture for outdated robotic arm (ABB: IRB-1400) is developed by the direct variable-frequency drive (VFD) and considered as a class of unknown nonlinear discrete-time systems. The identification model is established by Multi-input fuzzy rules emulated network (MiFREN) with the online learning algorithm and the database of IF-THEN rules. The controller is designed by using the identification model and feedback signals from the multiplexer when kinematic and dynamic models of the robotic system are neglected. The convergence of tracking errors and internal signals is guaranteed by both theoretical and practical aspects. The performance validation of the proposed robotic system is accomplished by the experimental setup with comparative results.

过时的机械手新架构（ABB：IRB-1400）由直接变频驱动器（VFD）开发，被视为一类未知的非线性离散时间系统。通过多输入模糊规则仿真网络（MiFREN），在线学习算法和IF-THEN规则数据库，建立了辨识模型。当忽略机器人系统的运动学模型和动态模型时，通过使用识别模型和来自多路复用器的反馈信号来设计控制器。理论和实践方面都保证了跟踪误差和内部信号的收敛。所提出的机器人系统的性能验证是通过具有比较结果的实验​​装置完成的。