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Improved Trajectory Tracking Control for a Three Axis SCARA Robot Using Fuzzy Logic

Shaymaa M. Mahdi; Safanah M. Raafat

Volume 16, Issue 1 , December 2016, , Page 11-19

Abstract
  Abstract –This paper presents a fuzzy based adaptive controller for a three-axis SCARA robot (Selective Compliance Articulated Robot Arm) in the presence of non- linearities, uncertainties and external perturbations. The nonlinear system is treated as a partially known system. The known dynamic is ...  Read More ...