DESIGNING OF FUZZY LOGIC BASED COMPUTED TORQUE CONTROLLERS FOR 6 DEGREE OF FREEDOM ROBOTIC MANIPULATOR

Abstract

Three different control strategies have been developed to control the 6-degree of freedom. Robot manipulator such that it can track the required trajectories. The first is based on the feedback linearization of the manipulator and controller via using a nonlinear control law. This is called a computed-torque-controller (CTC). The second is a Fuzzy controller. The third is a hybrid controller from the first and the second ones. The developed controllers are tested in different cases of uncertainties in the nonlinearity of the manipulator. The third controller has proved its superiority over the other two controllers in case of the motion is either from point to point or oscillatory with small frequency.