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Fuzzy control of a three degrees of freedom manipulator

The paper deals with an application of fuzzy control in the joint servo control of a three degrees of freedom (DOF) manipulator. The described method for a trajectory planning ensures accurate approximation of the desired path and includes limits of the velocities and accelerations of each robot joint. The proposed fuzzy controller has a nonlinear PD character, thus providing a highly effective path tracking. The path tracking is also satisfactory in the presence of external disturbances.

fuzzy control, planar robot arm

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