Application of fuzzy logic controller to a flexible one-link robot

Abstract

While the rigid arm is easy to control because of its simple mathematical model, it is tend to be massive and large for increased rigidity. The rigid arm also has some other drawbacks: low load-carrying capacity, low speed, much energy consumption, increase overall cost, and so on. To overcome these disadvantages, lightweight arm has been appeared. But, the lightweight arm is more likely elastically deformed. Therefore, to get a accurate mathematical model is difficult for its flexibility. In this thesis, to solve the problem, fuzzy controller for the flexible arm is proposed. Computer simulation shows the possibility of fuzzy controller for flexible arm.