A robotic test-rig for the experimentation with fuzzy logic controllers

This paper describes the design and implementation of a fuzzy logic control system which is to be used for teaching purposes. The application selected is a single-link robotic manipulator arm. Emphasis it placed on the implementation of the test-rig and the method applied to the design of the fuzzy logic controller. The prototype is made of components often found in small industrial manipulators. Particular attention is taken on the analysis of the practical design considerations found during the implementation of the manipulator arm. Models for both the fuzzy logic-based control system and the use of a PID are developed. Results of the simulation and experimental test-runs performed are also presented. This is an experimental platform which would be used to introduce undergraduate students to the application of fuzzy logic control techniques.