engleski

Robust Trajectory Tracking by Using Fuzzy Servo Control of an Articulated Robot Arm

The paper deals with a robust trajectory tracking by using fuzzy joint servo control of a five axis electric-driven articulated robot arm with tool pitch and roll motions. Trajectory planning ensures accurate approximation of the desired path and includes limits of the velocities and accelerations of each robot joint. The same fuzzy control algorithm is used in all joint servo loops, requiring only multiplexing and proper scaling of the fuzzy controller inputs and outputs. The comparative simulation experiments were also performed with a PD and a robust controller in the presence of white measurement noise, load change and nonlinear effects of robot dynamics. The results obtained have confirmed a very good performance and fairly robust trajectory tracking in case of using a fuzzy control method.

fuzzy control, trajectory tracking, articulated robot arm

nije evidentirano