Sliding mode control based fuzzy logıc of a puma type industrial robot

Robot manipulators are mostly used in industry, which are required high sensitivity and repeatability. Thus, many research efforts on control strategies have been carried out. In this study, the position control and the performance analysis of a PUMA type robot manipulator with four degrees of freedom have been performed by utilizing different types of control strategies.The controller used in this study for optimum position tracking is ?Sliding Mode Controller? which is widely used for the control of dynamical systems requiring a good position tracking capability and having nonlinear structure. Despite all these advantages, the chattering phenomenon is still a serious problem in the sliding mode control. To avoid the chattering problem and perfectly define the controller variables, a ?Sliding Mode Control Based Fuzzy Logic? has been also designed and applied to the system. The results have successfully met the performance criteria.Key Words: Manipulator, Robot, Fuzzy Logic, Sliding Mode Control, Sliding Mode Control Based Fuzzy Logic.