PLC-based fuzzy control system for a robotic manipulator

The submitted monograph deals with the design of robotic arm fuzzy control and its implementation in the PLC-based control system. In the introduction section, the robots and their control systems, as well as their properties and the possible solutions for the selected control tasks are analyzed. Then the author focuses on fuzzy control integration within the systems of the Siemens PLC company. Subsequently, the aims of the monograph and related subject matters to be investigated are defined. The main aim is to propose and implement the control for a robotic arm, whose mathematical model is unknown. The robotic arm, for which the control system has to be proposed, is described in detail. This section is followed by chapters focused on the design itself, its implementation and testing of the individual parts of the control system as a whole. The last chapter deals with analyzing the achieved results