Implémentation De La Commande Intelligente Dans Un Robot à Deux Degrés De Liberté

Abstract

Nonlinear systems represent a large part of the systems studied in industry among which we find manipulator robots, it is for this reason that the development of nonlinear control laws has become very interesting for the improvement of performance. Our project consists in making an implementation of the intelligent control in a manipulator robot with two degrees of freedom based on the concepts of fuzzy logic, this technique shows the improvement of the performance of the remote robot from the point of view of robustness, tracking precision and stability and ensure a certain autonomy for the robot. we start our thesis with the presentation of a general overview on robots, and we made a detailed study on the models used for the control and the command of the robot namely the inverse geometric model, then we have summarized all the basic notions necessary for understanding the field of fuzzy logic, then we devoted to the simulation of our robot under Matlab based on an inverse geometric model and ANFIS, after in the Realization part, we presented the hard and soft parts and we implemented fuzzy logic to control the robot. We end our work with a general conclusion of this study and we offer perceptives to our work.