Position Control of a Serial Manipulator Using Fuzzy-PID Controllers
This paper presents the position control of a six-axis serial manipulator by using a fuzzy-PID controller. The manipulator has six joints, and each joint is driven by a motor with an encoder for sensing the joint angle. To complete a position movement of the end-effector of the manipulator, the posi...
| Main Authors: | , |
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| Format: | Article |
| Language: | English |
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Chinese Institute of Automation Engineers (CIAE) & Taiwan Smart Living Space Association (SMART LISA)
2015-02-01
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| Series: | International Journal of Automation and Smart Technology |
| Subjects: | |
| Online Access: | http://www.ausmt.org/index.php/AUSMT/article/view/832 |
| Summary: | This paper presents the position control of a six-axis serial manipulator by using a fuzzy-PID controller. The manipulator has six joints, and each joint is driven by a motor with an encoder for sensing the joint angle. To complete a position movement of the end-effector of the manipulator, the position coordinate first needs to be converted to a sets of joint angles by using the inverse kinematics of the manipulator, and each joint rotation is executed by a feedback control of a motor. To demonstrate the performance the fuzzy-PID controller, a PID controller and two fuzzy controllers are also applied. The results show that the fuzzy-PID controller provides a better performance with a smaller steady-state error. |
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| ISSN: | 2223-9766 |