This study addresses the control problem of spatial link manipulator for three
degrees of freedom arm robot. A dynamic model is proposed, and the gravity effect
is taken into consideration. In this paper the results of proportional-integralderivative,
PID, are compared with the results of a fuzzy logic controller using
MATLAB simulation for controlling the torque of the manipulator. The objective
of the controller is to adjust the joints of the manipulator for the desired point. The
outputs of the PID controller and gravity controller are combined and used as the
commanded torque to the manipulator. The results show that the fuzzy logic
control is superior to the PID control as the dynamic performance of the
manipulator is considered.