Fuzzy logic control of robot manipulator

摘要

The dynamic control of a robot manipulator determines how to get the
\nnecessary control actions applied to the joint actuator for a given trajectory or a
\nsetpoint. It is a complex control problem as the control plant is nonlinear and
\ncoupled. The dynamic model of a three degree of freedom re\\ olt n1anipulator ha~
\nbeen derived as the control plant in the study. Applying fuzzy logic control to the
\nfield of robot dynamic control has begun to attract some attention. A basic fuzzy
\nlogic control is similar to the PID controller which is widely used in industr) for
\nrobot control. Fuzzy logic control provides an alternative approach in some cases.
\nOne n1ajor problem in designing a fuzzy logic controller is the selection of the
\ncontrol rule base. Generally the dynamical control of a robot manipulator is not
\nperformed by manual operation. A self-learning fuzzy logic controller is used to
\nform the necessary control rule base. In order to ensure the robustness of the
\ncontrol system. the control rule base is modified according to some perfonnance
\nindex. This learning scheme also provides the fuzzy logic controller the ability to
\ncornpensation for the variations in its operating environment. The control
\nalgorithms are verified by the simulation of the three joint robotic manipulator.
\nThe manipulator operates under the conditions of the changing payload and
\ndifferent joint velocity profiles . The simulation results indicate that fuzzy logic
\ncontrol can be a possible approach in some dynamic control problems of robots .