Abstract
This paper presents an alternative to enhance the classical PD+G Control for position regulation of robot manipulators, using interval type-2 fuzzy logic to compensate variations in the gravitational forces vector of the dynamic model of the robot. The proposed control strategy detects the variation in the gravity vector and performs a Takagi-Sugeno type fuzzy mapping using the mentioned variation as the input and a compensation gain as the output using interval type-2 fuzzy sets. Furthermore, the passivity property of the dynamic model of robot manipulators is used for the controller design by means of the direct Lyapunov's method in order to guarantee asymptotic stability. The experiments were performed using numerical simulations with a model of a 2 DOF robot manipulator, showing successful results for the position regulation of the robot joints.
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