Modeling, simulation and fuzzy control of an anthropomorphic robot arm by using Dymola

Analysis and fuzzy control of an anthropomorphic robot arm on a special trajectory is the subject of this paper. These types of systems are used in cutting operations on materials, joining materials by welding, material handling in remote and dangerous environments, packing of foods, inspection/testing electronic parts or medical products. This robot arm realizes the handling motion on a special trajectory. In this study, the first three links of Mitsubishi RV-2AJ Industrial Robot, are like an anthropomorphic arm, have been modeled and simulated by using Dymola. Kinematic equations have been obtained and mathematical model of this system has been formed by using Lagrange's Equations. Fuzzy logic controller for the joint angles for the motion trajectory has been designed and the simulation results have been presented at the end of the study.