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