A fuzzy-logic concept for highly fast and accurate position control of industrial robots

Different approaches of a learnable Fuzzy-Logic (FL) concept for highly fast and accurate position control of industrial robots will be presented which provides both time-optimality for large position errors as well as well damped response (no overshoot) near the target. For automatic optimization of the control parameters an additional Neural-Network component is introduced. Based on simulation and experiments the performance and robustness of the presented FL concept are discussed.