PD manipulator controller with fuzzy adaptive gravity compensation

Abstract

This paper presents a PD manipulator controller with fuzzy adaptive gravity compensation. The main idea is to use a fuzzy adaptive controller to compensate for the gravity term of the robotic manipulator. This controller is designed by using Lyapunov's stability theorem, which guarantees system stability. Simulation is implemented on a two-link manipulator by using MATALAB and SIMULINK. The results show that this fuzzy adaptive controller makes the manipulator trajectory converge to a desired position. Compared with other proposed fuzzy adaptive manipulator controllers, the PD manipulator controller with fuzzy adaptive gravity compensation is conceptually and structurally simpler and guarantees zero position error. ©2000 John Wiley & Sons, Inc.