Control difuso tipo Mamdani para un brazo-robot con tres grados de libertad

Abstract

Fuzzy reasoning systems are intended to simulate the human capacity to make decisions to react in ambiguous situations, such as extending a little the arm to reach something close, a decision that is executed daily by the brain without having to find out exactly how little the arm should extend or how close the object is. This paper presents the design and experimental results of a robotic arm performed as a research seedbed activity in fuzzy control. The results show that a user can specify certain position sequences (x, y), and automatically the robotic arm will execute the necessary actions to achieve them.