Fuzzy dynamic control of manipulators: a scheduling approach

Abstract

This paper presents a method for a dynamic control of manipulators. Fuzzy techniques are used to schedule both control torques and multivariable Proportional-Integral-Derivative controller. For each control variable, fuzzy subsets are defined by a set of crisp values and membership functions. Then we consider the control variables space and call crisp point a point in this space whose coordinates are crisp values. For each crisp point the control torque and a Proportional-Integral-Derivative controller are computed and stored. A fuzzy scheduler is in charge of sending torques and controllers to the robot.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>