Research on Coordinated Robotic Motion Control Based on Fuzzy Decoupling Method in Fluidic Environments

Table 2

Compensation rules.

𝑈	𝑁prop
	NB	NM	NS	O	PS	PM	PB
𝑌prop
NB	NS	NS	NS	O	PS	PS	PS
NM	NM	NM	NS	O	PS	PM	PM
NS	NB	NM	NS	O	PS	PM	PB
O	O	O	O	O	O	O	O
PS	PB	PM	PS	O	NS	NM	NB
PM	PM	PM	PS	O	NS	NM	NM
PB	PS	PS	PS	O	NS	NS	NS