Trajectory planning and adaptive neural network based interval type-2 fuzzy logic controller design of 3-DOF robot

In this paper, design of an adaptive neural network based interval type-2 fuzzy logic controller (ANNIT2FL), circular and handwriting type trajectory planning are proposed to show ability of a 3-DOF( Degree of Freedom ) Scara type robot manipulator. The kinematic and the dynamic equations are used to obtain equations of motion of robot manipulator and three different rise functions are chosen for desired cartesian trajectory as circular tool trajectory. Then, handwriting type trajectory is created to test controller's performance. Trajectory results of ANNIT2FL controlled robot manipulator are compared with the results of PID control. Simulation results demonstrate the remarkable performance of the proposed control technique.