Modeling and Fuzzy Based Computed Torque Control of a Multi-Degree of Freedom Robotic Manipulator

This paper presents a full kinematics and dynamics modelling of a multi-degree of freedom articulated robotic manipulator. This kind of robots are extensively used in industry and automation systems. Also, modelling and design of a Computed Torque Control (CTC) is presented, utilizing the dynamic model that has been developed, in the motion control problem. CTC scheme is an effective motion control strategy, but it requires precise dynamic modelling of the robot manipulator. That is practically impossible due to the highly nonlinear nature of the robot. A fuzzy based CTC is proposed to enhance the conventional CTC and to deal with the unmodeled dynamics and uncertainties of the robot. Simulations results are presented to verify the control technique and to compare it with the conventional Proportional Derivative (PD) based CTC.