Abstract

The robotic manipulator using intelligent controller has become a research hotspot for most robotmanufacturers all over the world. Robotic manipulator systems have disadvantages, such as high nonlinearity,slow response, and uncertainty; Type-2 FLC can be a solution to these drawbacks. A fuzzy controller for 5250Robotic Manipulator (RM) Lab-Volt (LV) is designed to track the joints position with new axis. The RM jointis processed as a single case. The Particle Swarm Optimization and Genetic Algorithm are used. The new designwas implemented of type-2 fuzzy logic based PSO as four controllers (T1FLC, T2FLC, PSOT1FLC, andPSOT2FLC). The most important parameters of Type-2 Fuzzy are gains (input /output) and foot of printuncertainty (FOU). Four cases are implemented for each joint (fixed FOU fixed Gain, fixed FOU variable Gain,variable FOU fixed Gain and variable FOU variable Gain). The experimental results for PSOT2FLC gave agood transient response with minimum integral absolute error IAE and minimum overshoot.

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The article was added to IASJ on 2019-07-24

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