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Fuzzy PD+I control of a six DOF robot manipulator

Fuzzy PD+I control of a six DOF robot manipulator Purpose – The purpose of this paper is to present the control of a six degrees of freedom (DOF) robot arm (PUMA robot) using fuzzy PD + I controller. Numerical simulation using the dynamic model of six DOF robot arm shows the effectiveness of the approach in trajectory tracking problems. Comparative evaluation with respect to PID and fuzzy PID controls are presented to validate the controller design. The results presented emphasize that a satisfactory tracking precision could be achieved using fuzzy PD + I controller combination than fuzzy PID controller. Design/methodology/approach – Control of a six DOF robot arm (PUMA Robot) using fuzzy PD + I controller. Findings – The performance of fuzzy PD + I controllers improves appreciably compared to their respective fuzzy PID only or conventional PID counterparts. Originality/value – Complexity of the proposed fuzzy PID controller is minimized as possible and only two design variables are used to adjust the rate of variations of the proportional gain and derivative gain. http://www.deepdyve.com/assets/images/DeepDyve-Logo-lg.png Industrial Robot: An International Journal Emerald Publishing

Fuzzy PD+I control of a six DOF robot manipulator

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Publisher
Emerald Publishing
Copyright
Copyright © 2008 Emerald Group Publishing Limited. All rights reserved.
ISSN
0143-991X
DOI
10.1108/01439910810854610
Publisher site
See Article on Publisher Site

Abstract

Purpose – The purpose of this paper is to present the control of a six degrees of freedom (DOF) robot arm (PUMA robot) using fuzzy PD + I controller. Numerical simulation using the dynamic model of six DOF robot arm shows the effectiveness of the approach in trajectory tracking problems. Comparative evaluation with respect to PID and fuzzy PID controls are presented to validate the controller design. The results presented emphasize that a satisfactory tracking precision could be achieved using fuzzy PD + I controller combination than fuzzy PID controller. Design/methodology/approach – Control of a six DOF robot arm (PUMA Robot) using fuzzy PD + I controller. Findings – The performance of fuzzy PD + I controllers improves appreciably compared to their respective fuzzy PID only or conventional PID counterparts. Originality/value – Complexity of the proposed fuzzy PID controller is minimized as possible and only two design variables are used to adjust the rate of variations of the proportional gain and derivative gain.

Journal

Industrial Robot: An International Journal – Emerald Publishing

Published: Mar 7, 2008

Keywords: Robotics; Fuzzy control; Trajectories

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