FUZZY CONTROL OF A MANIPULATOR USING AN ACTUATOR AND MULTIBRAKES

This paper is concerned with the control of a manipulator with n-degrees of freedom by one actuator and n-1 brakes using fuzzy inference. All the links of the manipulator are excited by a motor placed on the base link, and the excitation torque is successively transmitted through each link from the base link until the final link. The brakes on the joints act at identical frequency with different phases, and the phases of timing on the brakes are controlled by fuzzy inference such that all the joint angles of links are followed to the desired trajectories. The effectiveness of the proposed method is illustrated by a simple example.