Uncertainty Analysis of a Two-Link Robot Manipulator under Fuzzy Parameters

Abstract

This paper aims at analyzing the effect of uncertain parameters on a two-link planar manipulator using a fuzzy dynamic approach. The uncertain parameters are modeled as fuzzy variables and the dynamic simulation of the robot is performed by using fuzzy dynamic analysis. The dynamic model of the manipulator under uncertain payload and friction force is analyzed, additionally, the tracking control performance of the manipulator subject to uncertainties is studied. Numerical simulations illustrate the proposed methodology so that the effect of fuzzy uncertain parameters on the dynamic performance of the robot manipulator is properly described.