Enhanced the control strategy of a triple link robotic system (Robogymnast)

This research aims to optimise performance in a Fuzzy Linear Quadratic Regulator controller by implementing 2 types of algorithm stabilise the triple-link ‘Robogymnast’ robotic system. The Robogymnast recreates movements human gymnast, with hand/arm element system securely attached high bar ball0bearing mountings, which can rotate freely. article explores complex factors involved swing-up control underactuated and presents linearisation mathematical modelling for system, considering methods apply Lagrangian equations defining state space such systems. Both Teaching-Learning-Based Optimization (TLBO) Particle Swarm (PSO) were used tuning hybrid later application robot assessment response stability. In addition, MATLAB Simulink was simulate show effect altering parameters including time rising, settling overshoot. work primarily explore how Regulator/Fuzzy Logic be applied acrobatic robots.