PD manipulator controller with fuzzy adaptive gravity compensation

This paper presents a PD manipulator controller with fuzzy adaptive gravity compensation. The main idea is to use a fuzzy adaptive controller to compe nsate for the gravity term of the robotic manipulator. This controller is d esigned by using Lyapunov's stability theorem, which guarantees system stab ility. Simulation is implemented on a two-link manipulator by using MATALAB and SIMULINK. The results show that this fuzzy adaptive controller makes t he manipulator trajectory converge to a desired position. Compared with oth er proposed fuzzy adaptive manipulator Controllers, the PD manipulator cont roller with fuzzy adaptive gravity compensation is conceptually and structu rally simpler and guarantees zero position error. (C) 2000 John Wiley & Son s, Inc.