Development of ANFIS Controller for Trajectory Tracking Control Using ROBO2L MATLAB Toolbox for KUKA Industrial Robot via RSI

A new control scheme is proposed in the MATLAB/Simulink environment based on ANFIS technology using ROBO2L MATLAB toolbox with RSI to control the motion of the real KUKA robot. In detail, the control system has two subsystems designed for trajectory tracking error regulation in closed-loop control. One is a fuzzy logic controller, and the other is an ANFIS controller. These two controllers were used to control the velocity of the KUKA robot located inside the Hochschule Bochum laboratory. The testing process for these controllers was done by switching between FLC and ANFIS controllers and then studying each response separately. The results were compared with a linear controller produced in Hochschule Bochum experiments. The ROBO2L MATLAB toolbox provides many functions, such as sending and receiving positions and rotation for the end effector via UDP/IP communication, which RSI established to provide remote control for the robot using a PC. This work mainly emphasizes the ability to track the trajectories supported by the robotics toolbox in smooth motion. After observing the simulation results, the comparison between the linear, FLC, and ANFIS controllers is confirmed. The performance of the proposed approach is efficient for trajectory tracking control for the manipulator.