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|Title||Trajectory Tracking Control of 3-DOF Robot Manipulator Using TSK Fuzzy Controller|
Robots are used for various jobs such as dangerous and repetitive jobs that are boring, stressful, or labor-intensive for humans, like cleaning the main circulating pump housing in the nuclear power plant. The subject of this thesis is to presents an implementation of fuzzy modeling methodology for controlling robot manipulator using TSK fuzzy controller. In this thesis, the control method depends mainly on mathematical modeling, analysis and synthesis. The mathematical model of robot based on the Euler-Lagrange formalism represents the main tool for analysis and synthesis of robot control algorithms. Deriving both forward and inverse kinematics is an important step in robot modeling based on Denavit Hartenberg (DH) representation. The control objective is to make the 3-DOF robot manipulator traces desired trajectory using TSK fuzzy model. Computer simulation results shows that the robot tracks the path accurately with very small tracking error when compared to some of previous studies.
|Publisher||الجامعة الإسلامية - غزة|
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