A fuzzy logic controller for a three links robotic manipulator

The achievement of non-linear models has been quite a complex challenge. Order to simplify assumptions are also used to achieve simpler forms. The purpose of this paper is to provide an outline and discuss about the advantages and disadvantages of the fuzzy controls in the robotics manipulator and p...

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Bibliographic Details
Main Authors: Abdul-Sadah, Ali Muhssen, Raheem, Kamal M. H., Altufaili, Mohammed Mahdi Salih
Format: Conference Proceeding
Language:English
Subjects:
Control systems design
Controllers
Fuzzy control
Fuzzy logic
Manipulators
Multivariable control
Nonlinear systems
Robot arms
Robot control
Robotics
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Summary:The achievement of non-linear models has been quite a complex challenge. Order to simplify assumptions are also used to achieve simpler forms. The purpose of this paper is to provide an outline and discuss about the advantages and disadvantages of the fuzzy controls in the robotics manipulator and presents an approach to design a controller for multivariable nonlinear system using Fuzzy Logic Controller “FLC” approach as controller. The Robot Manipulator performance may not be satisfied when the conventional controller is used. The performance of a system is regulated by input of Fuzzy which represented by the error and error change. The suggested controller has been simulating the behaviour of a three serial rotational links. The fuzzy controller uses a variable input-output information to control robot's joints velocity and position.
ISSN:0094-243X
1551-7616
DOI:10.1063/5.0066871