Proceedings of the Korean Institute of Intelligent Systems Conference (한국지능시스템학회:학술대회논문집)

Korean Institute of Intelligent Systems (한국지능시스템학회)
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FUZZY CONTROL OF THREE LINKS A ROBOTIC MANIPULATOR

  • Kumbla, Kishan (CAD Laboratory for Intelligent and Robotics Systems Department of Electrical and Computer Engineering The University of New Mexico) ;
  • Jamshidi, Mo (CAD Laboratory for Intelligent and Robotics Systems Department of Electrical and Computer Engineering The University of New Mexico)
  • Published : 1993.06.01
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Abstract

This paper presents the application of fuzzy control to three links of a Rhino robot and compares its performance to traditional PD control. The dynamics of motion of robot links are governed by nonlinear differential equations. The fuzzy controller, being an adaptive technique, gives better performance than the traditional linear PD controller over a typical operational range. The fuzzy controller reaches the desired position with no overshoot, which is unlikely with the PD controller.

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