DocumentCode
1960201
Title
PD, PID and fuzzy logic control of three link planar arm
Author
Eroglu, E. ; Cansever, G. ; Kucukdemiral, I.B. ; Dalci, B.
Author_Institution
Dept. of Electr. Eng., Yildiz Tech. Univ., Istanbul, Turkey
fYear
2004
fDate
17-20 June 2004
Firstpage
191
Lastpage
196
Abstract
In this study we consider the control of a three link planar robot manipulator. Specifically we use PD, PID and fuzzy type controllers. We then illustrate how PD, PID controllers can be designed. We also illustrate how to design a fuzzy logic controller for the robot manipulator. We follow the computed torque method strategy to develop our controllers. We try to find advantages of each control law by simulations. Simulation results are included to illustrate the performance of the controllers.
Keywords
PD control; control system synthesis; fuzzy control; manipulators; three-term control; PD control; PID control; computed torque method strategy; fuzzy logic control; three link planar robot manipulator; Control systems; Friction; Fuzzy logic; Manipulator dynamics; Motion control; Robot control; Robot kinematics; Service robots; Three-term control; Torque control;
fLanguage
English
Publisher
ieee
Conference_Titel
Robot Motion and Control, 2004. RoMoCo'04. Proceedings of the Fourth International Workshop on
Print_ISBN
83-7143-272-0
Type
conf
DOI
10.1109/ROMOCO.2004.240644
Filename
1359508
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