Abstract
ABSTRACT In the work reported here, a fuzzy logic controller plays the role of a compensator for a robot system, together with a computed torque control method, to improve trajectory tracking performance of an industrial robot. To improve FLC performancc, the controller can be tuned automatically by adjusting the weight parameter α through applying a self-tuning fuzzy logic compensator (SFLC). By taking into account the full nonlinear nature of the robotic dynamics, the overall closed-loop system is shown to be bounded asymptotically stable. Experimental results demonstrate the effectiveness of the computed torque and fuzzy compensation scheme to mntrol an industrial CRS Robotics Corporation A460 robot during a trajectory tracking task.
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