抄録
This paper describes a nonlinear robust control for a robot manipulator with artificial rubber muscles by applying a fuzzy compensation. A fuzzy logic controller as a compensator is added to control the trajectory of a two-link robot manipulator, in which the computed torque control method has been already assumed to be applied to the robot. It is shown that when there exist model uncertainties and/or untuned feedback gains, the fuzzy compensator with a simple adaptive scaling technique is effective for the robust control. The effectiveness of the proposed control method is illustrated by making some simulations and experiments for the robot manipulator.
