A Self Tuning Fuzzy Controller Design for a Robot Manipulator Using Hardware in the Loop (HIL) Method

摘要

In this paper, a self tuning fuzzy controller is used as a controller for robot path tracking purposes. First of all dynamic and static analysis of a manipulator are studied using different engineering software. The results are compared with each other and it's attempted to optimize the mechanism to perform an accurate action such as drawing a complicated path. This methodology leads us to analyze, design and implement a robot control design very fast. It is solely rely on hardware in the loop (HIL) method. A 5_bar link robot is chosen as a case study for implementation. Simulations of two different controllers under various conditions are carried out on this robot. The results show that a self tuning fuzzy controller for robot control can provide very good performances throughout a wide range of operations.