A study of fuzzy schemes for control of robotic manipulators

摘要

Fuzzy control of robotic manipulators has found vast interest among researchers. This work studies four kinds of control with fuzzy ideas: straightforward conventional fuzzy control; fuzzy control with gravity compensation; fuzzy control with nonlinear state feedback; and a novel self-organizing fuzzy control idea. The methods are tested by simulations on a SCARA type robot and on the first three links of an articulated arm. Performances of these algorithms are compared.