Proceedings of the Korean Institute of Intelligent Systems Conference (한국지능시스템학회:학술대회논문집)
- 1993.06a
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- Pages.1207-1210
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- 1993
Design of Fuzzy Logic Controller for Robot Manipulators in the VSS Control Scheme
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Yi, Soo-Yeong
(Dept. of Electrical Engineering Korea Advanced Institute of Science and Technology) ;
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Chung, Myung-Jin
(Dept. of Electrical Engineering Korea Advanced Institute of Science and Technology)
- Published : 1993.06.01
Abstract
There is an opinion of regarding a simple fuzzy logic controller as a kind of Variable Structure Controller in recent years. The opinion may provide an analytical basis which describes the robustness to uncertainty and the stability of a fuzzy logic controller. So in this paper, a fuzzy logic controller based on the Variable Structure System with is designed for a robot manipulator which is a class of complex, nonlinear system with uncertainty. Fuzzy control rules, membership shape of the I/O variables of the fuzzy logic controller are designed for guaranteeing the stability of an overall control system. From a computer simulation of dynamic control of a two link robot manipulator, the design procedure of the fuzzy logic controller is validated.
Keywords