Abstract
This paper considers the application of fuzzy control to achieve global trajectory tracking and active damping of flexible-joint manipulators. A reasonable approach based on the combined computed torque control using rigid robot model and fuzzy control is suggested for flexible-joint manipulators. Sets of ‘four input variables — one output variable’ fuzzy control rules for each actuator respectively, are suggested for the perturbation control. The simulation results show that the transient performance and steady-state accuracy are near those of the feedback linearization approach. The simulation results with payload or joint stiffness variation for the single-link case are also shown to demonstrate the robustness of the control law.
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