International Journal of Automation and Smart Technology | |
Position Control of a Serial Manipulator Using Fuzzy-PID Controllers | |
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