A fuzzy logic controller for a three links robotic manipulator

摘要

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.