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

<div>The comparison of the controlling force for optimal fuzzy PD and optimal PD controllers, (a) the controlling force of the first link (revolute), (b) the controlling force of the second link (prismatic), and (c) the controlling force of the third link (prismatic).</div>

Journal of Robotics

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Figure 5

Figure 5: Inverse Dynamics Based Optimal Fuzzy Controller for a Robot Manipulator via Particle Swarm Optimization 