Trajectory Tracking Control of a Planar Robotic Arm Using Inverse Dynamics and Fuzzy Gain Scheduling: Simulation and Experimental Validation

This paper presents a complete modeling-to-validation workflow for an inverse dynamics controller applied to a two-degree-of-freedom planar robotic arm, incorporating high-fidelity simulation and physical prototyping. The inverse dynamics model is analytically formulated in MATLAB using the Newton&#...

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Egile Nagusiak:	Muhammad Bilal Kadri, Saudah Anil Khatri, Sofia Yousuf
Formatua:	Artigo
Hizkuntza:	Inglês
Argitaratua:	IEEE 2025-01-01
Saila:	IEEE Access
Gaiak:	Inverse dynamics control computed torque method fuzzy gain scheduling planar robotic arm trajectory tracking
Sarrera elektronikoa:	https://ieeexplore.ieee.org/document/11219019/
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