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Fuzzy Logic and Control: Software and Hardware Applications, Volume 2 by Timothy J. Ross - University of New Mexico, Nader Vadiee, Mohammad Jamshidi

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14 Fuzzy Control of Robotic Manipulator

Kishan Kumar Kumbla, John Moyaand Ronald BairdUniversity of New Mexico

14.1 Introduction

A robot is a reprogrammable multifunctional mechanical manipulator designed to move materials, parts, tools, or special devices through planned trajectories for the performance of a variety of tasks. It is a computer controlled manipulator consisting of several relatively rigid links connected in series by revolute, spherical, or translational joints. One of these links is typically attached to a supporting base while another link has an end that is free and equipped with a tool known as the end-effector for manipulating objects or performing assembly tasks. Mechanically, the robot is composed of an arm, wrist subassembly ...

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