اﻟﺠـﺎﻣﻌـﺔ اﻹ ﺳ ﻼﻣﯿ ــ ﺔ– ﻏ ـــ ﺰة ﻋــﻤـﺎدة اﻟـﺪراﺳـﺎت اﻟ ـــ ﻌـ ـ ﻠـﯿـﺎ ﻛـــــﻠــــــﯿـــــﺔ اﻟــﮭـﻨـ ــ ﺪﺳ ــ ــﺔ ﻗـﺴـﻢ اﻟـﮭـﻨﺪﺳـﺔ اﻟـﻜﮭ ــ ﺮﺑﺎﺋﯿ ـ ﺔThe Islamic University of Gaza Deanery of Graduate Studies Faculty of Engineering Electrical Engineering Department Trajectory Tracking Control of 3-DOF Robot Manipulator Using TSK Fuzzy Controller By Mahmoud A. Abualsebah Advisor Dr. Hatem Elaydi A Thesis Submitted in Partial Fulfillment of the Requirements for the Degree of Master of Science in Electrical Engineering August 2013 ﺷﻭﺍﻝ١٤٣٤