Designing a controller on the basis of a fuzzy output system for guiding a link of a robotic manipulator arm

Authors: Goldinova K.A.
Published in issue: #11(16)/2017
DOI: 10.18698/2541-8009-2017-11-193
Category: Mechanical Engineering and Machine Science | Chapter: Robots, Mechatronics, and Robotic Systems
Keywords: simulation, fuzzy logic, drive, rules, controller, control system, robotic manipulator arm, fuzzification
Published: 30.10.2017

As an applied science, fuzzy logic boasts a wide range of applications and helps to solve a large number of control-related problems. In control engineering, fuzzy simulation makes it possible to obtain more relevant results as compared to those based on traditional control algorithms. We suggest a way to design a control system for the elbow joint of a robotic arm, based on fuzzy logic. We list the advantages of this method, its fundamentals and a specific application example. In order to assess the performance of the method, we present the results of simulating a robotic arm in the SimMechanics library before and after introducing a fuzzy controller.

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