Abstract
The paper describes trajectory tracking simulation experiments with a hybrid approach to robot control that combines traditional model-based and fuzzy logic-based control techniques. The combined method is developed by extending a model-based decentralized control scheme with fuzzy logic-based tuners for modifying parameters of joint servo controllers. The simulation experiments conducted on a real-scale six-degree-of-freedom industrial robot demonstrate suitability of fuzzy logic-based methods for improving the performance of the robot control system.
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