Comparison between conventional PID and Fuzzy PID supervisor for 3-DOF Scara type robot manipulator

Author

Jaiswal, Nitesh Kumar ; Kumar, Vijay

Author_Institution

Dept. of Electron. & Commun., Indian Inst. of Technol. Roorkee, Roorkee, India

fYear

2014

fDate

1-2 March 2014

Firstpage

1

Lastpage

5

Abstract

This paper presents 3-dof Scara type robot manipulator using dynamic modeling. In this paper presents dynamic modeling of robot manipulator based on Lagrange formulation using Fuzzy PID supervisor and conventional PID controller and compare the performance. The purpose of designing Fuzzy PID supervisor to overcome the drawbacks of conventional PID controller because robot manipulators are nonlinear model then conventional PID cannot give satisfactory result. The performance of the two controllers is evaluated by Matlab/ Simulink in term of time response. Depend upon simulation results; Fuzzy PID supervisor produces good results than conventional PID controller.

Keywords

assembling; control system synthesis; fuzzy control; industrial manipulators; manipulator dynamics; nonlinear control systems; three-term control; 3-DOF Scara type robot manipulator; Lagrange formulation; Matlab; Simulink; conventional PID supervisor; degrees-of-freedom; dynamic modeling; fuzzy PID supervisor; nonlinear model; proportional-integral-derivative supervisor; supervisor design; time response; Dynamics; Joints; Manipulator dynamics; Mathematical model; Torque; 3-DOF Scara; Dynamic Modeling; Fuzzy PID Supervisor; Lagrange formulation; PID controller;

fLanguage

English

Publisher

ieee

Conference_Titel

Electrical, Electronics and Computer Science (SCEECS), 2014 IEEE Students' Conference on

Conference_Location

Bhopal

Print_ISBN

978-1-4799-2525-4

Type

conf

DOI

10.1109/SCEECS.2014.6804431

Filename

6804431