An adaptive fuzzy strategy for motion control of robot manipulators

Authors:
A. Chatterjee;K. Watanabe
Affiliations:
Department of Advanced Systems Control Engineering, Graduate School of Science and Engineering, Saga University, 1 Honjomachi, 840-8502, Saga, Japan;Department of Advanced Systems Control Engineering, Graduate School of Science and Engineering, Saga University, 1 Honjomachi, 840-8502, Saga, Japan
Venue:
Soft Computing - A Fusion of Foundations, Methodologies and Applications
Year:
2005

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Abstract

This paper makes an attempt to develop a self-tuned proportional-integral-derivative (PID)-type fuzzy controller for the motion control of robot manipulators. In recent past, it has been widely believed that static fuzzy controllers can not be suitably applied for controlling manipulators with satisfaction because the robot manipulator dynamics is too complicated. Hence more complicated and sophisticated neuro-fuzzy controllers and fuzzy versions of nonlinear controllers have been more and more applied in this problem domain. The present paper attempts to look back at this widely accepted idea and tries to develop a self-tuned fuzzy controller with small incremental complexity over conventional fuzzy controllers, which can yet attain satisfactory performance. The proposed controller is successfully applied in simulation to control two-link and three-link robot manipulators.