An adaptive fuzzy strategy for motion control of robot manipulators

A. Chatterjee, Keigo Watanabe

Research output: Contribution to journalArticle

14 Citations (Scopus)

Abstract

This paper makes an attempt to develop a self-tuned proportional-integral-derivative (PID)-type fuzzy controller for the motion control of robot manipulators. In recent past, it has been widely believed that static fuzzy controllers can not be suitably applied for controlling manipulators with satisfaction because the robot manipulator dynamics is too complicated. Hence more complicated and sophisticated neuro-fuzzy controllers and fuzzy versions of nonlinear controllers have been more and more applied in this problem domain. The present paper attempts to look back at this widely accepted idea and tries to develop a self-tuned fuzzy controller with small incremental complexity over conventional fuzzy controllers, which can yet attain satisfactory performance. The proposed controller is successfully applied in simulation to control two-link and three-link robot manipulators.

Original languageEnglish
Pages (from-to)185-193
Number of pages9
JournalSoft Computing
Volume9
Issue number3
DOIs
Publication statusPublished - Feb 2005
Externally publishedYes

Fingerprint

Robot Manipulator
Motion Control
Motion control
Fuzzy Controller
Manipulators
Robots
Controllers
Controller
Neuro-fuzzy
Manipulator
Directly proportional
Strategy
Derivative
Derivatives
Simulation

Keywords

  • PID-type fuzzy controllers
  • Robot manipulators
  • Self-tuned fuzzy controllers

ASJC Scopus subject areas

  • Computational Mechanics

Cite this

An adaptive fuzzy strategy for motion control of robot manipulators. / Chatterjee, A.; Watanabe, Keigo.

In: Soft Computing, Vol. 9, No. 3, 02.2005, p. 185-193.

Research output: Contribution to journalArticle

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