Fuzzy controller for robot arm trajectory

Abstract

Reports on successful applications of fuzzy logic controllers (FLCs) are no longer rare. Regardless of the application domain, the main idea is to convert a linguistic control scenario into an automatic control strategy. The expert's knowledge is the backbone of this linguistic control strategy. FLCs have their most successful implementations where the process under control is too complex for analysis by conventional quantitative methods and, therefore, conventional controllers face serious shortcomings. This paper proposes a “hybrid” implementation of FLCs and conventional PID controllers that can be helpful in some applications. The proposed method is applied to a 2 degree of freedom robot arm with promising results.