| Robotic controls have been the area of research for many years and work is still being done to develop simple, efficient and robust control methods. The highly nonlinear nature of the robot makes its control a difficult task. This thesis develops a mathematical model for a two link planar manipulator based on Denavit-Hartenberg representation of coordinate frames and Newton-Euler formulation of dynamic equations. A fuzzy logic controller is designed and simulated for this two link manipulator and its results are compared to a Linear Quadratic Gaussian Controller.; The concept and use of Fuzzy logic based control for non-linear systems and the deviation from extensive mathematical modeling is illustrated with an example for a two link planar manipulator. Computer simulation of the Fuzzy logic based controller shows the advantages and limitations of this control method. Recommendations for future work are also detailed. |
