Description: As it is mentioned the control of a robot arm using AFC can be considerably
improved if a method is found to provide good estimates of the inertia matrix of the
arm. Therefore, AFCAFL scheme which exploits the use of fuzzy logic as the inertial
parameter estimator. The idea behind the AFCAFL scheme is to obtain a continuous
computation of the estimated inertia matrix of the arm. In the proposed scheme the
angular acceleration of link1 and link2 and track error of link1 and link2 are
supposed as inputs and estimated inertia matrix as output. The proposed scheme is
depicted
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