Fuzzy PID Control of a Five DOF Robot Arm

Authors:
G. M. Khoury;M. Saad;H. Y. Kanaan;C. Asmar
Affiliations:
Saint-Joseph University, ESIB, Sciences and Technologies Campus, Mar Roukoz, Mkalles, Lebanon;University of Quebec, ETS, 1100 Notre-Dame Street West, Montreal, Quebec, Canada;Saint-Joseph University, ESIB, Sciences and Technologies Campus, Mar Roukoz, Mkalles, Lebanon;Saint-Joseph University, ESIB, Sciences and Technologies Campus, Mar Roukoz, Mkalles, Lebanon
Venue:
Journal of Intelligent and Robotic Systems
Year:
2004

Citing 9
Cited 1

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Abstract

This paper studies the application of fuzzy logic control on a five degrees of freedom (DOF) robot arm, the Maker 100 of U.S. Robots. The elaboration of the fuzzy control laws is based on two structures of coupled rules fuzzy PID controllers. The fuzzy PID controllers are numerically simulated and the simulation results confirm the success of the fuzzy PID control in trajectory tracking problems. Seeking a performance optimization, a systematic study of the choice of tuning parameters of the controllers is done. The success of the proposed fuzzy control law is again affirmed by a comparative evaluation with respect to the computed torque control method and the direct adaptive control method, the last two controls being also numerically implemented using the same dynamic model of the robot arm.