Simulation Experiments with Fuzzy Logic-Based Robot Control

  • M. Vukobratovič
  • B. Karan
Part of the International Centre for Mechanical Sciences book series (CISM, volume 361)


The paper describes trajectory tracking simulation experiments with a hybrid approach to robot control that combines traditional model-based and fuzzy logic-based control techniques. The combined method is developed by extending a model-based decentralized control scheme with fuzzy logic-based tuners for modifying parameters of joint servo controllers. The simulation experiments conducted on a real-scale six-degree-of-freedom industrial robot demonstrate suitability of fuzzy logic-based methods for improving the performance of the robot control system.


Robot Control Robot Dynamic Robot Control System Joint Position Error Trapezoidal Velocity Profile 


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Copyright information

© Springer-Verlag Wien 1995

Authors and Affiliations

  • M. Vukobratovič
    • 1
  • B. Karan
    • 1
  1. 1.M. Pupin InstituteBelgradeYugoslavia

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