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 by the authors can be used in the multi-link plant. The fuzzy scheme, only based on the knowledge of the system behavior, does not need any mathematical model and it offers, both globally stable robust output despite plant´s uncertainties or nonlinearities, and disturbance rejections capability. To deal with the six degrees of freedom fuzzy controller, we formulate the system description of a 6-DOF plant with differential parameter values of the PUMA robot