A fuzzy control strategy for a flexible single link robot

Abstract

A fuzzy control strategy is described which is utilized to control the rigid body and the first flexural mode of vibration in a single link robotic arm. Both simulated and experimental results are presented and show that the rigid and flexible modes can be adequately controlled with the proposed technique. The results are shown to provide some improvement over those obtained by more conventional means.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>