Self-Adjusting Fuzzy Logic Based Control of Robot Manipulators in Task Space

End effector tracking control of robot manipulators subject to dynamical uncertainties is the main objective this article. Direct task space that aims minimizing end error directly preferred. In open loop system, vector depends on uncertain terms modeled via a fuzzy logic network and self-adjusting adaptive component designed as part nonlinear proportional derivative based input torque. The stability closed-loop system investigated Lyapunov arguments practical proven. viability proposed strategy shown with experimental results. Extensions Jacobian case kinematically redundant robots are also presented.