Final position and trajectory control of an object on a distributed manipulation system

Abstract

In this paper, the function of a fuzzy controller in motion control of an object on a distributed manipulation system is investigated practically by an experimental setup. The system consists of four wheels with fixed axis and an object that is carried on them. The angular velocity of the wheels is controlled by a fuzzy controller and the object motion is indeed controlled by the friction forces between the wheels and the object. The results of experimental tests are compared with that of numerical simulations of the system in SIMULINK. The good agreement between the results indicates the effectiveness of the designed controller in actual systems.