Independent joint adaptive fuzzy control of robot manipulator

Abstract

Robot manipulator has highly nonlinear dynamics. Therefore the control of multi-link robot arms is a challenging and difficult problem. In this paper independent joint adaptive fuzzy logic scheme is developed for control of robot manipulators. The proposed scheme does not require an accurate manipulator dynamic model and the joint acceleration measurement, yet it guarantees asymptotic trajectory tracking despite gross robot parameter variations. No inversion or the estimated mass matrix is involved. Numerical simulation for independent joint control of a 3-axis PUMA arm will also be included.