| Fuzzy logic control (FLC) has been a focus of attention for both academic research and industrial applications since Mamdani's early work in 1974. Fuzzy logic has been successfully applied to different control problems. Even though there are many criticisms of fuzzy logic control due to lack of analytic methods for design and stability analysis, the fuzzy logic trend has not slowed down.; FLC has also being applied to manipulator control which is a very challenging nonlinear control problem. Both classical and advanced robot controllers have problems because of high nonlinearity or uncertainties in robot dynamics. In this study, fuzzy compensated computed torque controller (FC-CTC) for robotic manipulators was designed and used. This new technique integrates an approximate computed torque controller with a PD-like fuzzy logic controller. In addition, the robustness and sensitivity to parameter perturbations and noise were investigated. |
