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

<div>The comparison of the velocity diagrams, (a) the velocity of the first link (revolute), (b) the velocity of the second link (prismatic), and (c) the velocity of the third link (prismatic).</div>

Journal of Robotics

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Figure 6

Figure 6: Inverse Dynamics Based Optimal Fuzzy Controller for a Robot Manipulator via Particle Swarm Optimization 