Intelligent control of robotic manipulators with DSP

Recent advances in computing technology have been providing the fundamental driving force for the sudden increase in interest in intelligent control. In this paper an autonomous self-organizing fuzzy logic controller is formulated and implemented using a DSP-based controller card to control in multiplex three links, namely base, shoulder and elbow, of a revolute joint manipulator. Simulation and online testing results have verified the self-optimizing ability of the process independent controller. The controller presented here can be easily formulated and implemented using low-cost DSP chips