Discrete Dynamics in Nature and Society
Volume 2012 (2012), Article ID 279498, 21 pages
Research Article

Implementation of a Fuzzy TSK Controller for a Flexible Joint Robot

1Department of Electrical Engineering, Ahar Branch, Islamic Azad University, Ahar 5166614776, Iran
2Faculty of Electrical and Computer Engineering, University of Tabriz, Tabriz, Iran
3Department of Electrical and Computer Engineering, University of Alberta, Edmonton, AB, Canada T6G 2V4

Received 26 July 2012; Revised 3 September 2012; Accepted 14 September 2012

Academic Editor: Vimal Singh

Copyright © 2012 M. E. Akbari et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


This paper proposes a fuzzy TSK controller to control a rotary flexible joint manipulator. The flexibility of joint is performed by means of a solenoid nonlinear spring, which is connected between actuator output and joint input in a bilateral connection form to transfer the produced torque; also the smooth model of frictions is used for modeling the dynamics of flexible manipulator. The effect of coulomb friction and also gearbox backlashes is decreased by a pulsation signal as an extra voltage that is added to the control voltage of actuator. Actuator dynamics is modeled by consideration of saturation mode of armature current. Experimental results demonstrate that the proposed controller has an ability to control flexible joint manipulator with a good performance.