Design of fuzzy controller for three degree of freedom robot arm

A three degree of freedom robotic arm is controlled by a fuzzy logic scheme. The arm has three revolute joints allowing the corresponding links to move horizontally.; When developing a controller using conventional techniques, a design scheme has to be produced, usually based on a model of a system. In addition, kinematics equations must be derived to take into account the physical boundaries of the system. The work outlined in this thesis utilizes fuzzy logic control to address these control issues. Fuzzy logic provides functional capability without the use of a system model and has the characteristics suitable for capturing the approximate, varying values found in real world systems.; The controller and the control scheme in this thesis have been implemented to imitate the nature of the actual robot arm. The results of the simulation are satisfactory.