Robust control applied to robot arm

Fuzzy control has emerged as a practical alternative to several conventional control schemes since it has shown success in some application areas. This paper aims to prove that the controller presented previously by the authors (1997) can be used in the multi-link plant. The fuzzy scheme, only based on the knowledge of the system behavior, doesn´t need any mathematical model and it offers, both globally stable robust output despite the plant´s uncertainties or nonlinearities, and disturbances rejections capability. The authors investigate whether these qualities are preserved in the six degrees of freedom fuzzy controller