Two-DOF Manipulator System Fuzzy Control

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Robot manipulators have become increasingly important in the field of automation. So modelling and control of robots inautomation will be very important. This paper presents a study of robust control approach employing fuzzy logic control technique fortwo degree of freedom (2-DOF) manipulator robot. A learning control system is designed so that its “learning mechanism” has theability to improve the performance of the closed-loop system by generating command inputs to the plant and utilizing feedbackinformation from the plant. It is well known that robotic manipulators are highly nonlinear coupling dynamic systems. A fuzzy logicrule base is designed, using the knowledge obtained from the operator. Simulation is performed to demonstrate the effectiveness ofcontrol strategy. Furthermore, the parameters of the controllers were optimized using MATLAB and simulations' result reveals thatcontrol scheme is working satisfactorily.

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