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A Study on Position Control of a Flexible Robot Manipulator using Fuzzy Logic Controllers

This paper deals with a single flexible link robot system using two fuzzy logic controllers(FLC). The one is used for controlling the rigid position of the beam while it is rotated from one position to another. The other is adopted to reduce the oscillation caused by the rigid body motion. Many simulations are carried out to investigate characteristics of the controlled system. There are good results compared with other systems using PD controller. And also the system could be exactly controlled by the proper setting conditions for FLC.