Dynamic Model of a Two-link Robot Manipulator with Fuzzy Uncertain Parameters
نویسندگان
چکیده
This paper aims at studying the effect of uncertain parameters on a two-link planar manipulator using a fuzzy logic approach. The uncertain parameters are modeled as fuzzy variables and the dynamic simulation of the robot is performed using fuzzy dynamic analysis. Two case studies are considered to analyze the dynamic behavior of the robot manipulator: a) uncertain payload and b) uncertain payload and friction force simultaneously. Numerical simulations illustrate the proposed methodology so that the effect of fuzzy uncertain parameters on the performance of the robot manipulator is analyzed. keywords: Uncertainty Analysis, Fuzzy Variables, Robot Manipulator
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