Fuzzy logic control of robot manipulator

摘要

Position control of a two-link manipulator can be achieved bynusing a fuzzy logic controller. A fuzzy logic software, FIDE (FuzzynInference Development Environment) is used to design and model thencontroller. Investigation is described that attempts to demonstrate thenbenefits of using that software for the design and implementation of thencontroller. A comparative study about the different methods ofncontroller design with different parameters is performed. Finally anscheme is given which could achieve simultaneous control of the twonlinks of the manipulator by using two independent controllers for thentwo joints