Comparative Study of Different Control Techniques Applied on 6 Dof Robot Arm

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.

Robotic Arm Position Control using Mamdani Fuzzy Logic on Arduino Microcontroller

“…It has been reported that a system with a PID-fuzzy logic tuning method outperforms a conventional PID tuned method. A comparative analysis is conducted to determine the optimal tuning strategy for controlling a 6-DOF robot arm [9]. The study compares three types of control methods with different tuning methods, namely, the Ziegler-Nichols PID controllers, the fuzzy logic controllers, and the Fuzzy-PID controllers.…”