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Abstract
In the past several years. fuzzy logic control has been emerged as one of the most active and fruitful areas for research in the applications of fuzzy set theory. especially in industrial processes. which do not lend themselves to control by conventional methods because of a lack of quantitative data regarding the input/output relations. Fuzzy logic controller (FI.C) is a rule-based controller, which uses information in a manner as human experts. FLC doesn’t require complex mathematics associated with classical control techniques. The aim of this thesis is lo study the design of a PLC’s and Lo use it in a robotic manipulator control system, The problem of the robotic manipulator arm is that the dynamic equations are a set of highly non-linear-coupled differential equations containing a varying inertia, centrifugal, and coriolis terms, Movement of the robot manipulator to perform a (racking trajectory in the case of free motion or a contour following in the case of force control requires a complex set of torque functions Lo be applied by the joint actuators of the robot. the exact form of the required functions of actuator torque depends on the spatial and temporal attributes of the path taken by the end-effector as well as, the mass properties of the links, payload, and frictions in the joints, etc. So. the nonlinear dynamics of the robot motion presents a challenging control problem. A traditional linear control can’t effectively control the motion of the robot, even using the nonlinear control theory. The nonlinear differential equations arc plugged by substantial requirements for computation and have an incomplete theory of solution. FLC offers a promising approach to robot controller design. It offers design rules that arc relatively easy to use in a wide range of applications, including nonlinear robotics equations. It also allows for design in cases where models arc incomplete. this thesis is arranged into two main parts: The first part studies the tracking o a trajectory Under uncertainty of robotic manipulator parameters. In the proposed scheme, the F .C tuned by modifying the output scale factor (SF) according to the current states of the controlled processes. The second part studies the control of robot manipulator under constrained motion with the surrounding environment. In this case, the total space is divided into two individual subspaces. The first subspace defines the position of the end-effector and the second subspace defines the force exerted at each point. The schemes have been tested for a two link planar manipulator in various situations that may be met during the task execution. Simulation results have shown that the proposed scheme is able to handle these situations efficiently and reliably. The system has shown robustness to parameter variation compared with one of the conventional schemes.