Fuzzy Logic Applications in Control of Robotic Manipulators

Abstract. Fuzzy Logic (nebulous logic) is a one of the fields from computation what else has been growing on the last years, principally due the advance from the new computational technologies. These applications may be found at diverse devices of the day the day , such as into the control of machines of wash, juncture, air-conditioning and another. In robotics, can you to apply with certain satisfaction, control with logic nebulous (Fuzzy Logic Control) with the design of simplify and improve the performance of the control of manipulators. The control system of robotic manipulators is complicated, overall when the screening it is of type real time. Sum the that, the fortifications no linearity (centripetal accelerations and of Coriollis, geometry, friction and rests), coupling dynamic among the components from the mechanisms, influences abrupt (shifts on the trajectories thanks to obstacles, shifts into the loading of the manipulative and another), and another factors of errors (parametric uncertainty, errors of template and another) that if they meet in a manipulator. Other big problem associate with the control in real time is the weather spend about to if prosecute some dice of control, such as those obtained for inverse kinematics, what has a high consumption computational due on the complexity from the equations, the one to can occur in delay into the control. This paper presents the technique of “partitionement” fuzzy for modeled of inverse dynamics by one robotic manipulator of 4 degrees of freedom, as of experimental data. The system of inference fuzzy, in this case, it works like a box black, where can determine the torques of exit of each joins, from the displacements of the joins, without know the template analytic, barely by using if of experimental data.