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Fuzzy PD+I control of a six DOF robot manipulator

Srinivasan Alavandar (Department of Electronics and Computer Engineering, Indian Institute of Technology Roorkee, Roorkee, India)
M.J. Nigam (Department of Electronics and Computer Engineering, Indian Institute of Technology Roorkee, Roorkee, India)

Industrial Robot

ISSN: 0143-991x

Article publication date: 7 March 2008

1243

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.

Keywords

Citation

Alavandar, S. and Nigam, M.J. (2008), "Fuzzy PD+I control of a six DOF robot manipulator", Industrial Robot, Vol. 35 No. 2, pp. 125-132. https://doi.org/10.1108/01439910810854610

Publisher

:

Emerald Group Publishing Limited

Copyright © 2008, Emerald Group Publishing Limited

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