Adaptive fuzzy control of robot manipulators

Abstract

In this paper, an adaptive fuzzy robot control algorithm which employs tracking errors of the joint motion to estimate the robot dynamics, which are subsequently used in the control law, is derived. In particular, it requires no feedback of joint accelerations. This adaptive controller does not require the exact robot dynamics but only the boundary of the dynamics. Theoretical results and simulation studies on a two-link robot manipulator show that the adaptive fuzzy robot controller is robust and stable.