A Review of Fuzzy Logic Based Control of Robotic Manipulators

Abstract

Robotic manipulators are complex mechanisms due to which their kinematics and dynamics are nonlinear in nature and computationally intensive. Fuzzy logic based approach provides an alternative for modeling and control of non-linear systems and hence has been extensively applied in the field of robotics. This paper presents a review of fuzzy logic based techniques for modeling and control of robotic manipulators. The survey is reported in terms of objectives, types of robotic manipulators, types and structures of fuzzy systems employed. A summary of quantitative results is presented as performance indicators of fuzzy modeling and control of robotic manipulators.