Application of fuzzy logic to robotic control

摘要

This paper describes how fuzzy logic can be applied to robotic control using software tools on personal computers. First, the fundamentals of fuzzy logic and robotics are discussed. Second, fuzzy controller designs for a two-link manipulator and for robot PUMA 560 (the last three links locked) are proposed. C language code is developed to simulate the controller designs. Fuzzy Inference Development Environment (FIDE) software from Aptronix, Inc. is used for development of fuzzy if-then rules. The contribution of this paper is the exploration of nonconventional methods for control of highly nonlinear systems.