Position Control of a Serial Manipulator Using Fuzzy-PID Controllers

International Journal of Automation and Smart Technology

Shih-Min Liu¹  Yong-Lin Kuo² 

[1] ;National Taiwan University of Science and Technology;

关键词: Position Control;    Serial Manipulator;    Fuzzy-PID Controller.;   

DOI  :  10.5875/ausmt.v5i1.832

来源: DOAJ

【 摘 要 】

This paper presents the position control of a six-axis serial manipulator by using a fuzzy-PID controller. The manipulator has six joints, and each joint is driven by a motor with an encoder for sensing the joint angle. To complete a position movement of the end-effector of the manipulator, the position coordinate first needs to be converted to a sets of joint angles by using the inverse kinematics of the manipulator, and each joint rotation is executed by a feedback control of a motor. To demonstrate the performance the fuzzy-PID controller, a PID controller and two fuzzy controllers are also applied. The results show that the fuzzy-PID controller provides a better performance with a smaller steady-state error.

【 授权许可】

Unknown