THE EFFICIENCY OF THE INFERENCE SYSTEM KNOWLEDGE STRATEGY FOR THE POSITION CONTROL OF A ROBOT MANIPULATOR WITH TWO DEGREE OF FREEDOM

Fatima Zahra Baghli, Larbi El bakkali, Yassine Lakhal, Abdelfatah Nasri, Brahim Gasbaoui

Abstract: The robot manipulator is a mechanical system multi-articulated, in which each articulation is driven individually by an electric actuator is the most robot used in industry, this system need an efficient control strategy. In this present work we present a new approach for a robot manipulator with two degrees of freedom based on the Fuzzy Logic Controller (FLC) to ensure the position robot control strategy, the proposed control scheme is based on nonlinear dynamic model derived using Lagrange-Euler formulation. Our robot manipulator fuzzy inference system control’s simulated in Matlab Simulink environment, the results obtained present the efficiency and the robustness of the proposed control with good performances compared with the classical PID.

Keywords: Robot manipulator, Fuzzy Logic, PID.

DOI: https://doi.org/10.15623/ijret.2013.0207017