Fuzzy Control of Robotic Manipulators in the Presence of Joint Friction and Load Changes

Abstract

Abstract In this paper a fuzzy robot control scheme is presented which consists of a fuzzy logic (FL) controller and a conventional derivative (D) controller. The main purpose of the paper is to study the effectiveness of membership function forms of linguistic variables on achieving desired control performance. Simulations of a two-link manipulator demonstrate that the control performance in the presence of joint friction and load changes can be improved by the scheme. The proposed scheme is quite simple in structure and can be easily implemented.