Inverse Dynamics Based Optimal Fuzzy Controller for a Robot Manipulator via Particle Swarm Optimization

Figure 4

The position diagram of each of the links controlled via optimal fuzzy PD and optimal PD controllers, (a) the position of the first link (revolute), (b) the position of the second link (prismatic), and (c) the position of the third link (prismatic).

(a)

(b)

(c)