FUZZY CONTROL OF TWO LINK ROBOTIC MANIPULATOR

Abstract

Robotic manipulator is a complex system due to nonlinearity and uncertainties inherent in it. Because of these complexities a precise control of robotic manipulator is difficult. Although there are many conventional methods used to control manipulator dynamics but due to inherent uncertainties or ambiguity in robotic dynamics the performance of conventional technique is not satisfactory. Instead of using conventional linear controller,if fuzzy logic is used to implement a linear controller then effect of uncertainties can. be minimized by merging the knowledge gained from the experience of a human operator into equivalent fuzzy controller. In our work we have synthesized a fuzzy logic controller and by considering different types of membership functions, rule base and implication method we tried to study the performances of fuzzy logic control system and compared with the performance indecies of conventional control system. We have also tried to find that if some fuzzy sets and rule is included in knowledge base of synthesized equivalent fuzzy controller then ;4 how the performence of a fuzzy logic control system is effected.