Comparison between FLC and PID Controller for 5DOF robot arm

Author

Alassar, Ahmed Z. ; Abuhadrous, Iyad M. ; Elaydi, Hatem A.

Author_Institution

Electr. Eng. Dept., Islamic Univ. of Gaza, Gaza, Palestinian Authority

Volume

5

fYear

2010

fDate

27-29 March 2010

Firstpage

277

Lastpage

281

Abstract

Controlling robot manipulator is essential problem to guarantee the robot execute the desired task with minimum error. This paper presents a fuzzy logic controller (FLC) for manipulating 5DOF robot arm based on independent joint control method. The proposed controller design aims to overcome the drawbacks of classical PID controller. The simulation is done using Matlab/ SIMULINK by comparing the performance of the two controllers for Lynx6 robot arm in terms of time response. Based on the simulation results, the FLC provides good results than PID controller.

Keywords

control system synthesis; fuzzy control; manipulators; three-term control; 5DOF robot arm; Lynx6 robot arm; PID controller; controller design; fuzzy logic controller; independent joint control method; robot manipulator; Fuzzy logic; Manipulators; Medical control systems; Medical robotics; PD control; Pi control; Proportional control; Robot control; Service robots; Three-term control; 5DOF Robot Arm; Fuzzy Logic Controller; PID Controller;

fLanguage

English

Publisher

ieee

Conference_Titel

Advanced Computer Control (ICACC), 2010 2nd International Conference on

Conference_Location

Shenyang

Print_ISBN

978-1-4244-5845-5

Type

conf

DOI

10.1109/ICACC.2010.5487245

Filename

5487245