A Fuzzy Logic Controllerfora Two-Link Functional Manipulator

Abstract

This paper presents a new approach for designing a Fuzzy Logic Controller "FLC"for a dynamically multivariable nonlinear coupling system. The conventional controller with constant gains for different operating points may not be sufficient to guarantee satisfactory performance for Robot manipulator. The Fuzzy Logic Controller utilizes the error and the change of error as fuzzy linguistic inputs to regulate the system performance. The proposed controller have been developed to simulate the dynamic behavior of A Two-Link Functional Manipulator. The new controller uses only the available information of the inputoutput for controlling the position and velocity of the robot axes of the motion of the end effectors KEYWORDS

Control of Double Link Flexible Robotic Manipulator System

“…Robotic manipulators constitute a significant component in the manufacturing industry. They are used for many reasons, including speed, accuracy, and repeatability [1]. A robotic manipulator arm is a programmable electronic and multipurpose mechanical device that performs a wide range of function by manipulating materials, components, objects, or tools through predetermined movements.…”