A RECENTLY COMPLETED RESEARCH PROGRAM AT SOUTHWEST RESEARCH INSTITUTE HAS DEVELOPED A FUZZY LOGIC CONTROLLER FOR A REDUNDANT, FOUR DEGREE-OF-FREEDOM, PLANAR MANIPULATOR. THE MANIPULATOR END POINT TRAJECTORY CAN BE SPECIFIED BY EITHER A COMPUTER PROGRAM (ROBOT MODE) OR BY MANUAL INPUT (TELEOPERATOR MODE). THE APPROACH USED EXPRESSES END-POINT ERROR, THE LOCATION OF MANIPULATOR JOINTS, AND PROXIMITY TO OBSTACLES AS FUZZY VARIABLES. JOINT MOTIONS ARE DETERMINED BY A FUZZY RULE SET WITHOUT REQUIRING SOLUTION OF THE INVERSE KINEMATIC EQUATIONS. ADDITIONAL RULES FOR SENSOR DATA AND PREFERRED MANIPULATOR CONFIGURATION, E.G. RIGHTY OR LEFTY, ARE EASILY ACCOMMODATED. THE PROCEDURE USED TO GENERATE THE FUZZY RULES CAN BE EXTENDED TO HIGHER DOF SYSTEMS.