An optimized fuzzy computed torque control for the robot manipulator PUMA 560

Abstract

This research intends to introduce a novel fuzzy computed torque control (FCTC) for the robot manipulator PUMA 560. This controller is obtained by improving the computed torque controller (CTC) through the addition of a nonlinear element, that is, the fuzzy controller, which compensates for the limitation of the CTC control action. The Archimedes optimization algorithm is utilized to optimize the FCTC parameters. The performances of the proposed controller are compared to the optimized CTC and PID controllers for different trajectories of the end effector. The obtained results demonstrate that the proposed controller can control complex nonlinear systems such as robots and demonstrates superior tracking performances over the optimized CTC and PID controllers.