Set-Point Regulation of a Robot Manipulator with Flexible Joints Using Fuzzy Control

Abstract

This papers aims at designing of a set-point regulation control of a two-link planar manipulator with flexible joints considering the motor measurement only. The set-point regulation control is applied to find a feedback control law that attenuates the vibration on the joints for a desired closed-loop balance at a specific configuration. The dynamic model of the flexible manipulator with rigid links and flexible joints is derived using the Lagrange-Euler principle. The nonlinear dynamics of the robotic flexible manipulator is approximated with the help of a Takagi-Sugeno fuzzy model. The control strategy proposed in this contribution is based on the Fuzzy Takagi-Sugeno model as well as the Parallel Distributed Compensation. Simulation results show that the proposed control strategy regulates the position of the robot over a desired position within the workspace.