Control of a Two-link Robotic Arm using Fuzzy Logic

摘要

Wheelchair mounted robotic arms (WMRA) aim to help individuals with physical disabilities such as spine injuries or amputated arms by improving independent living and social participation of individuals with upper extremity impairments. Various research has been conducted and shown different ways of controlling the position of a robotic arm using Proportional Integral-derivative (PID). However, Fuzzy Logic Controller (FLC), when well designed, can behave like a nonlinear controller or even like a set of linear PID controllers that operate differently according to the inputs. Using FLC in this application has benefits in various aspects mentioned in the paper. Therefore, the focus of our research is to prove the performance of the studied position controller using Fuzzy Logic. The assessment is based on system efficiency, settling time to changes in the command signals and system overshoot.