Fuzzy logic control of robot manipulator

摘要

Position control of a two-link manipulator can be achieved by using a fuzzy logic controller. A fuzzy logic software, FIDE (Fuzzy Inference Development Environment) is used to design and model the controller. Investigation is described that attempts to demonstrate the benefits of using that software for the design and implementation of the controller. A comparative study about the different methods of controller design with different parameters is performed. Finally a scheme is given which could achieve simultaneous control of the two links of the manipulator by using two independent controllers for the two joints.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>