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Abstract

The goal of our investigation is to create a way of directing a robotic limb that is based on an adaptive optimum fuzzy algorithm, as is clear from the study's title. To create an adaptive fuzzy controller for a robotic limb is the goal of this project. By joining the robotic leg to the human foot, it is possible to increase load-bearing capacity and make up for limitations brought on by injury, ageing, etc. Consider a 3R planar open chain for the leg. Rotating actuators supplied by a fundamental control system are used to regulate the robot joints' motion in order to counteract external stresses and provide the required torque for steady motion. The control system generates control commands using fuzzy logic and fuzzy rules. The fuzzy rules parameters must be modified based on the external loads and conditions that are perturbing in order to achieve the best energy consumption performance. As a result, fuzzy rules are variable-parameter adaptive functions. A method based on the honey bee algorithm (BA) is used to change the settings. The stated control system should activate joint actuators in the presence of disturbance loads to maintain steady and accurate motion.

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