Fuzzy logic trajectory control of flexible robot manipulator with rotating prismatic joint

Botsalı, Fatih Mehmet; Tınkır, Mustafa; Kalyoncu, Mete; Önen, Ümit

doi:10.1109/iccae.2010.5451849

Cited by 11 publications

(4 citation statements)

References 34 publications

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“…The fuzzy logic controller, a non-linear control system, demonstrates versatility and efficacy in managing complex systems. Inputs for this controller are typically derived from sensor readings or other system variables, and the outputs manifest as control signals or actions within the system [10,11]. Each rule and variable within the fuzzy logic system is designed to counter disturbances affecting the performance of the robotic manipulator's links.…”

Section: Non-linear Controller (Fuzzy Logic Controller)mentioning

confidence: 99%

Comparative Analysis of PID and Fuzzy Logic Controllers for Position Control in Double-Link Robotic Manipulators

Ghani,

Othman,

Hashim

et al. 2023

JISC

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This study presents a comprehensive evaluation of linear and non-linear control systems, specifically Proportion Integration Differentiation (PID) and fuzzy logic controllers, in the context of position control within double-link robotic manipulators. The effectiveness of these controllers was rigorously assessed in a simulated environment, utilizing MATLAB Simulink for the simulation and SOLIDWORKS for the model design. The PID controller, characterized by its Kp, Ki, and Kd components, was implemented both in the simulation and on the hardware. However, due to the constraints of the microcontroller's RAM and processor, which facilitate the hardware's connection with MATLAB, the application of the Fuzzy Logic concept to hardware was not feasible. In the simulated environment, the fuzzy logic controller demonstrated superior stability in comparison to the PID controller, evidenced by a lower settling time (1.0 seconds) and overshoot (2%). In contrast, the PID controller exhibited a settling time of 0.2 seconds and an overshoot of 32%. Additionally, the fuzzy logic controller showcased a 44% reduction in steady-state error relative to the PID controller. When applied to hardware, the PID controller maintained stable results, achieving a settling time of 0.6 seconds and an overshoot of 2%. The steady-state errors for Link 1 and Link 2 were recorded as 3.6°and 1.4°, respectively. The findings highlight the fuzzy logic controller's enhanced stability, rendering it more suitable for ensuring the accuracy and protection of the manipulator system. As a non-linear controller, the fuzzy logic controller efficiently addresses various potential errors through its intelligent control mechanism, which is embedded in its fuzzy rules. Conversely, the PID controller, a linear controller, responds rapidly but may lack flexibility in complex scenarios due to its inherent linearity. This study underscores the importance of selecting an appropriate controller based on the specific requirements of robotic manipulator systems, with a focus on achieving optimal performance and stability.

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Section: Non-linear Controller (Fuzzy Logic Controller)mentioning

confidence: 99%

Comparative Analysis of PID and Fuzzy Logic Controllers for Position Control in Double-Link Robotic Manipulators

Ghani,

Othman,

Hashim

et al. 2023

JISC

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show abstract

“…Based on the simulations results, it can be said that the system performance is not satisfactory. 40 A fuzzy selftuning PID is a controller that determines the PID parameters intelligently by fuzzy logic method; the parameters are not constant and vary during the controlling process which was introduced in ref. [41].…”

Section: Fuzzy Logic Controllermentioning

confidence: 99%

A Critical Review of Control Techniques for Flexible and Rigid Link Manipulators

Alandoli

Lee

2020

Robotica

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SUMMARY There is a high demand for developing effective controllers to perform fast and accurate operations for either flexible link manipulators (FLMs) or rigid link manipulators (RLMs). Thus, this paper is beneficial for such vast field, and it is also advantageous and indispensable for researchers who are interested in robotics to have sufficient knowledge about various controllers of FLMs and RLMs as the controllers’ concepts are elaborated in detail. The paper concentrates in critically reviewing classical controllers, intelligent controllers, robust controllers, and hybrid controllers for both FLMs and RLMs. The advantages and disadvantages of the aforementioned control methods are summarized in this paper; it also has a detailed comparison for the controllers in terms of the design difficulty, performance, and the suitability for controlling FLMs or RLMs.

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“…Based on the existing literature, it is quite apparent that the single-link and two-link manipulators with revolute joints have been modeled and studied thoroughly. Subsequent various control strategies [30][31][32] have been developed for vibration suppression in such manipulators. In addition, researchers [6,18,19] have extensively investigated the resonant responses of singlelink flexible manipulator with prismatic joint under different working excitations.…”

Section: Introductionmentioning

confidence: 99%

Tip Trajectory Characteristics and Nonlinear Stability Analysis of Robotic Manipulator With Flexible Links-joints

Kumar¹,

Pratiher²

2021

Preprint

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An efficient and new dynamic model of two-link flexible manipulator connected and controlled by flexible joints i.e., prismatic and revolute pairs has been developed to explore the modal analysis to study tip-trajectory characteristics and subsequently investigate the nonlinear steady-state responses under harmonic motion at flexible joints. The governing equations including joint dynamics have been derived using extended Hamilton’s principle. Modal parameters have been graphically presented to highlight the influences of various system parameters on the determination of eigenfrequencies and eigenspectrums. Obtained reduced order equations have then used to study the trajectory characteristics of tip displacements, angular and actuator positions by imparting the appropriate actuator force and joint torque. Further, nonlinear studies have been carried out to compute the steady state responses and their stability and local bifurcation by using 2nd order method of multiple scales. Investigation of the influences of various design parameters on the nonlinear stability and local bifurcation of steady state responses have been demonstrated and those results have been found to be in good agreement with numerically obtained findings. The obtained results find very useful in the applications of long-reach robot manipulators performing complex operations assigning with translating and rotary motion together.

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Fuzzy logic trajectory control of flexible robot manipulator with rotating prismatic joint

Cited by 11 publications

References 34 publications

Comparative Analysis of PID and Fuzzy Logic Controllers for Position Control in Double-Link Robotic Manipulators

Comparative Analysis of PID and Fuzzy Logic Controllers for Position Control in Double-Link Robotic Manipulators

A Critical Review of Control Techniques for Flexible and Rigid Link Manipulators

Tip Trajectory Characteristics and Nonlinear Stability Analysis of Robotic Manipulator With Flexible Links-joints

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