Fuzzy Logic Control Design for 2-Link Robot Manipulator in MATLAB/Simulink via Robotics Toolbox

Abstract

In this paper, it is aimed to achieve fuzzy logic control of a simple 2-link robot manipulator via Robotics and Fuzzy Logic Toolboxes of MATLAB©. The blocks from these toolboxes were blended in the Simulink© environment in order to obtain the simulations. The robot block available in the Robotics Toolbox was used to create the model by modifying the block parameters. Next, a PD-controller was designed and optimized, which results, in turn, acted as a guide for generating the fuzzy rule-base of the fuzzy controller. The fuzzy controller was then designed and implemented into the system using the Fuzzy Logic Toolbox. Finally, the fuzzy control system that has a satisfactory reference tracking performance was simulated for various inputs.