A fuzzy compensator for uncertainty of industrial robots

摘要

Addresses the application of a fuzzy logic control system to trajectory tracking control of robot manipulators. In the proposed application, the fuzzy logic control system plays the role of a compensator for the robot system, together with the computed torque control method, to improve trajectory tracking performance of an industrial robot. The proposed control scheme is used to adjust weight parameters of a self-tuning fuzzy logic compensator (SFLC). Experimental results demonstrate the effectiveness of the computed torque and the SFLC scheme to control an industrial CRS Robotics Corporation A460 robot.