COMPARATIVE STUDY OF DIFFERENT CONTROL TECHNIQUES APPLIED ON 6 DOF ROBOT ARM | ||
| Journal of Al-Azhar University Engineering Sector | ||
| Article 20, Volume 12, Issue 42, January 2017, Pages 25-36 PDF (1.06 M) | ||
| Document Type: Original Article | ||
| DOI: 10.21608/auej.2017.19285 | ||
| Authors | ||
| Samer Al-Marzoqi1; Ahmad El-Bayoumy Mansour2 | ||
| 1Research department faculty of engineering Al-Azhar University | ||
| 2Department of electrical engineering, Al-Azhar University | ||
| Abstract | ||
| Most of the industrial controllers used today for 6 DOF robot arm utilize PID controllers. Using PID controller without tuning method leads to response with unsuitable time-domain specifications (maximum-overshot, settling-time, rise-time, …). Ziegler-Nichols method was introduced as the conventional method for tuning the PID controller. By using this method, the enhancement of the response time-domain specifications is not sufficient. Recently, fuzzy logic with and without PID-controller, and genetic algorithm with PID-controller are also introduced to obtain suitable time-domain specifications of the response. This paper will introduce a new comparative study for these four tuning methods applied on 6 DOF robot arm in view of the response time domain specifications and the steady state error. Simulation results are obtained using the Mat lap/Simulink. The results show that the Fuzzy with PID controller responds better than the others in case of change in load and system disturbances. | ||
| Keywords | ||
| Robot Arm; Forward kinematics; Inverse kinematics; PID controller; Fuzzy controller; Genetic Algorithm and Fuzzy PID controller | ||
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