FUZZY CONTROLLER FOR ROBOT ARM TRAJECTORY

Reports on successful applications of fuzzy logic controllers (FLCs) a re 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 c ontrol strategy. FLCs have had their most successful implementations w here the process under control is too complex for analysis by conventi onal quantitative methods and, therefore, conventional controllers fac e serious shortcomings. This paper proposes a ''hybrid'' implementatio n 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.