Design of an Optimized Fuzzy Controller for a 3R Non-planar Robotic Manipulator

Abstract

This paper investigates the control of a 3R robot using three different methods. The designed controllers are PID, Fuzzy logic controller (FLC), and particle swarm optimized Fuzzy logic controller (PSOFLC). The fuzzy controller calculates the required joint torques, based on the fuzzy rules and the given inputs. Using an intelligent optimization method allows adjusting fuzzy membership function parameters. The proposed method shows improved performance and a lower total error rate over its conventional counterpart. The comparative evaluation with respect to each controller is presented to validate the controller design for tracking problems. The robot modeling and control design has been simulated within MATLAB and Simulink software, where the achieved numerical results are the criteria for evaluation.