Abstract
Conventional fuzzy controllers for the motion tracking of robotic manipulators utilize two input variables, position errors and velocity errors, to deal with highly nonlinear and time-varying dynamics associated with robot motion, and position errors usually remain at steady state conditions. In order to eliminate the steady state position errors, a new fuzzy control algorithm is proposed using three input variables of the fuzzy controller: position error, velocity error, and integral of position errors. Simulation and experiment studies show that the position errors at steady state are decreased more than 90% compared to those of conventional fuzzy control when the proposed fuzzy control is applied to the 2-axis direct-drive SCARA robot.
Sign-in/Register to access full text options 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
