Kheir, Saadaoui2020-09-272020-09-272019-02http://dspace.univ-msila.dz:8080//xmlui/handle/123456789/19611This paper is related to the simulation, in Matlab environment, of a robot manipulator controlled by both type-1 and interval type-2 fuzzy controllers, in which a modification in Karnik-Mendel algorithm has been proposed. To calculate the output of interval type-2 fuzzy system there is a main step called type-reduced; this operation is based on Karnik-Mendel algorithm, which uses arithmetic mean to calculate the control output. In this work, we propose to change the arithmetic mean by harmonic one. The performances of modified interval type- 2 controller and type-1 fuzzy controller with and without noises are compared in terms of integral of squared error. The proposed modification in type reduction of Karnik-Mendel algorithm for interval type-2 fuzzy set shows best performance. Indeed, the amount of error in case of modified interval type-2 fuzzy controller is less two times than type-1 fuzzy controller.type-1 fuzzy sets, interval type-2 fuzzy sets, nonlinear dynamic system, PUMA560 robotArticle