Trajectory Tracking Control for Robot Manipulators with Fuzzy Adaptation Rule

Abstract

Robot manipulators PD feedback is a PTP(Point To Point)control from which can handle nonlinearity of robot manipulators with the simple linear feedback and guarantees system stability strictly. In this paper, we propose a method of trajectory tracking control for robot manipulators with fuzzy adaptation rule based on PD feedback. The result of an experiment using a 2-degree-of-freedom manipulator shows the effectiveness of this trajectory tracking control method for robot manipulators. A advantage of this method is that control algorithm is simple and small in calculation quantity.