Modeling and control of 6 DOF industrial robot using fuzzy logic controller
Modeling and control of 6 degree of freedom (DOF) robot arm is the aim of this thesis. The modeling problem is necessary before applying control techniques to guarantee the execution of any task according to a desired input with minimum error. The main objective of this thesis is to control a robot...
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| Format: | Thesis |
| Published: |
2014
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| Subjects: | |
| Online Access: | http://eprints.uthm.edu.my/5487/ http://eprints.uthm.edu.my/5487/1/DZULHIZZAM_BIN_DULAIDI.pdf |
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| Summary: | Modeling and control of 6 degree of freedom (DOF) robot arm is the aim of this thesis.
The modeling problem is necessary before applying control techniques to guarantee the
execution of any task according to a desired input with minimum error. The main
objective of this thesis is to control a robot arm using fuzzy logic controller (FLC) to
acquire the desired position. FLC is applied to handle the nonlinearity in the robot
manipulators. The performance of FLC is then compared with well known conventional
controller, Proportional integral derivative (PID). The comparison between the PID
controller and FLC results in terms of overshoot, time response and steady-state error
specifications. Based on simulation results, FLC gives better results than classical PID
controller in terms of overshoot, time response and steady-state error. Through this study
it is proved that the FLC is more efficient in the time response behavior than the PID
controller. |
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