Design of PID, FLC and Sliding Mode Controller for 2-DOF Robotic Manipulator: A Comparative Study
Controlling the manipulators in a precise manner is a challenging task. To overcome this difficulty around the world, many researchers have developed various control algorithms but are not providing optimal results. To obtain the optimal results in the current research the authors designed a proport...
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Ram Arti Publishers
2023-02-01
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| Series: | International Journal of Mathematical, Engineering and Management Sciences |
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| Online Access: | https://www.ijmems.in/cms/storage/app/public/uploads/volumes/06-IJMEMS-22-0331-8-1-94-104-2023.pdf |
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| author | Mukti Tomar Sunitha Mandava Nuthalapti Hemalatha Veeravalli Ramakoteswara Rao Ravi Kumar Mandava |
| author_facet | Mukti Tomar Sunitha Mandava Nuthalapti Hemalatha Veeravalli Ramakoteswara Rao Ravi Kumar Mandava |
| author_sort | Mukti Tomar |
| collection | DOAJ |
| description | Controlling the manipulators in a precise manner is a challenging task. To overcome this difficulty around the world, many researchers have developed various control algorithms but are not providing optimal results. To obtain the optimal results in the current research the authors designed a proportional, integral, and derivative (PID) controller, fuzzy logic controller (FLC), and sliding mode controller (SMC) for a 2-DOF manipulator. The concept of forward and inverse kinematics was initially solved after assigning the D-H parameters for each joint. The purpose of forward or direct kinematics is to obtain the position and orientation of the end effector. Further, the concept of inverse kinematics is used to estimate the joint angles. Later on, the Lagrange-Euler formulation was used to calculate the dynamics of the 2-DOF manipulator, which is required to estimate the torque required for each joint of the robotics arm. The main goal of this research problem is to optimize the angular error between the two successive events. Finally, the developed algorithm is compared with the existing algorithms such as PID and Fuzzy logic controller. |
| first_indexed | 2024-04-11T03:05:48Z |
| format | Article |
| id | doaj.art-1d6eac6bbd4d4278b10ea0340c9ffda5 |
| institution | Directory Open Access Journal |
| issn | 2455-7749 |
| language | English |
| last_indexed | 2024-04-11T03:05:48Z |
| publishDate | 2023-02-01 |
| publisher | Ram Arti Publishers |
| record_format | Article |
| series | International Journal of Mathematical, Engineering and Management Sciences |
| spelling | doaj.art-1d6eac6bbd4d4278b10ea0340c9ffda52023-01-02T13:12:14ZengRam Arti PublishersInternational Journal of Mathematical, Engineering and Management Sciences2455-77492023-02-018194104https://doi.org/10.33889/IJMEMS.2023.8.1.006Design of PID, FLC and Sliding Mode Controller for 2-DOF Robotic Manipulator: A Comparative StudyMukti Tomar0Sunitha Mandava1Nuthalapti Hemalatha2Veeravalli Ramakoteswara Rao3Ravi Kumar Mandava4Department of Mechanical Engineering, Maulana Azad National Institute of Technology, Bhopal, 462003, India.Department of Electronics & Communication Engineering, R.V.R. & J.C. College of Engineering, Guntur, 522017, India.Department of Electronics & Communication Engineering, R.V.R. & J.C. College of Engineering, Guntur, 522017, India.Department of Mechanical Engineering, R.V.R. & J.C. College of Engineering, Guntur, 522017, India.Department of Mechanical Engineering, Maulana Azad National Institute of Technology, Bhopal, 462003, India.Controlling the manipulators in a precise manner is a challenging task. To overcome this difficulty around the world, many researchers have developed various control algorithms but are not providing optimal results. To obtain the optimal results in the current research the authors designed a proportional, integral, and derivative (PID) controller, fuzzy logic controller (FLC), and sliding mode controller (SMC) for a 2-DOF manipulator. The concept of forward and inverse kinematics was initially solved after assigning the D-H parameters for each joint. The purpose of forward or direct kinematics is to obtain the position and orientation of the end effector. Further, the concept of inverse kinematics is used to estimate the joint angles. Later on, the Lagrange-Euler formulation was used to calculate the dynamics of the 2-DOF manipulator, which is required to estimate the torque required for each joint of the robotics arm. The main goal of this research problem is to optimize the angular error between the two successive events. Finally, the developed algorithm is compared with the existing algorithms such as PID and Fuzzy logic controller.https://www.ijmems.in/cms/storage/app/public/uploads/volumes/06-IJMEMS-22-0331-8-1-94-104-2023.pdf2-dof manipulatorsmcdynamicslagrange-euler formulationpidflc |
| spellingShingle | Mukti Tomar Sunitha Mandava Nuthalapti Hemalatha Veeravalli Ramakoteswara Rao Ravi Kumar Mandava Design of PID, FLC and Sliding Mode Controller for 2-DOF Robotic Manipulator: A Comparative Study International Journal of Mathematical, Engineering and Management Sciences 2-dof manipulator smc dynamics lagrange-euler formulation pid flc |
| title | Design of PID, FLC and Sliding Mode Controller for 2-DOF Robotic Manipulator: A Comparative Study |
| title_full | Design of PID, FLC and Sliding Mode Controller for 2-DOF Robotic Manipulator: A Comparative Study |
| title_fullStr | Design of PID, FLC and Sliding Mode Controller for 2-DOF Robotic Manipulator: A Comparative Study |
| title_full_unstemmed | Design of PID, FLC and Sliding Mode Controller for 2-DOF Robotic Manipulator: A Comparative Study |
| title_short | Design of PID, FLC and Sliding Mode Controller for 2-DOF Robotic Manipulator: A Comparative Study |
| title_sort | design of pid flc and sliding mode controller for 2 dof robotic manipulator a comparative study |
| topic | 2-dof manipulator smc dynamics lagrange-euler formulation pid flc |
| url | https://www.ijmems.in/cms/storage/app/public/uploads/volumes/06-IJMEMS-22-0331-8-1-94-104-2023.pdf |
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