Fuzzy logic control of robot with three degrees of freedom: further results

Abstract

In the control system designing process, it is very difficult to determine exact mathematical model of the controlled object . It is necessary to make some assumptions in order to avoid model to become „academic“. These assumptions bring error to mathematical model which is often known as 'modelling error'. Fuzzy logic provides elemination of these problem, since it doesn't need exact model for forming controller. It only needs input and output variables, along with their dependance. In this paper is presented forming of the controlling system for robot with 3DOF, and dependance of variation of number and shape of fuzzy membership functions on quality of control.