Real Time Visual Servoing of a 6-DOF Robotic Arm using Fuzzy-PID Controller

Adar, Nurettin Gökhan; Tiryaki, Aysun Egrisogut; Kozan, Recep

doi:10.12693/aphyspola.128.b-348

Cited by 12 publications

(8 citation statements)

References 12 publications

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“…The corresponding parameters of the arm links are shown in Table I. The inverse kinematics of the robotic arm was carried out in [9], where the detailed information is presented.…”

Section: Methodsmentioning

confidence: 99%

Comparison between Real Time PID and 2-DOF PID Controller for 6-DOF Robot Arm

Adar

Kozan

2016

Acta Phys. Pol. A

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Robotics and its applications have become increasingly important in the field of manufacturing industry. Robot manipulators are effectively used for this purpose. Control of manipulators is very important, however, highly nonlinear and multi-input multi-output (MIMO) complex structure of manipulators make the control difficult. This paper presents two-degree of freedom PID controller scheme for a six-degree of freedom rigid robotic manipulator. Traditional PID controllers are widely used due to their simple control structure and ease of implementation in industry. However load disturbances and parametric variation affect the robustness of the controller. The performance of proposed two-degree of freedom PID controller is compared with the traditional PID controllers. Matlab-Simulink program is used for real-time implementation of the proposed method. Experimental results show that two-degree of freedom PID control is better than the traditional PID for manipulator control in real time.

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“…The corresponding parameters of the arm links are shown in Table I. The inverse kinematics of the robotic arm was carried out in [9], where the detailed information is presented.…”

Section: Methodsmentioning

confidence: 99%

Comparison between Real Time PID and 2-DOF PID Controller for 6-DOF Robot Arm

Adar

Kozan

2016

Acta Phys. Pol. A

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“…Due to the existence of b 1 , v 1 also can be derived by analytical methods as in Eq. (13). The variables in Figure 2 are calculated as follows:…”

Section: Inverse Kinematicsmentioning

confidence: 99%

Modelling, Control and Simulation of a SCARA PRR-Type Robot Manipulator

Soyaslan

Shah

et al. 2018

Scientia Iranica

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In this study, a SCARA Prismatic-Revolute-Revolute-type (PRR) robot manipulator is designed and implemented. Firstly, the SCARA robot is designed in accordance with the mechanical calculations. Then, forward and inverse kinematic equations of the robot are derived by using D-H parameters and analytical methods. The software is developed according to the obtained Cartesian velocities from joint velocities and joint velocities from Cartesian velocities. The trajectory planning is designed using the calculated kinematic equations, and the simulation is performed in MATLAB VRML environment. A stepping motor is used for the prismatic joint of the robot, and servo motors are used for revolute joints. While most of the SCARA robot studies focus on the Revolute-Revolute-Prismatic-type (RRP) servo control strategy, this work focuses on PRR-type and both stepper and servo control structures. The objects in the desired points of the workspace are picked and placed to another desired point synchronously with the simulation. Therefore, the performance of the robot is examined experimentally.

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“…The linguistic variables are important part of fuzzy logic too. The utilization of fuzzy logic in civil engineering as well as in related branches is shown in selected studies [7][8][9][10][11].…”

Section: Basic Concepts Of the Fuzzy Sets Theorymentioning

confidence: 99%

Selection of Construction Project Taking into Account Technological and Organizational Risk

Ibadov

2017

Acta Phys. Pol. A

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During the implementation of construction projects, there is permanently a certain level of technological and organizational risk. This is due to the fact that the data on conditions for a construction project tend to have different levels of uncertainty. Even the projects of the same size and terms of implementation vary. The failure risk of individual works results from technological and organizational factors, such as, for example, the difficulty of technological execution of individual works; availability of construction materials; the difficulty of the organization of individual works; availability of qualified personnel, availability of necessary machinery and equipment in the technology, etc. These factors affect the time and the cost of construction projects. When taking into account their influence, while selecting an option for construction project, it is crucial to maintain the contractual cost and time. An example of the option selection for construction project implementation is presented in this article, including technological and organizational risk, using the fuzzy sets theory and linguistic variables.

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Real Time Visual Servoing of a 6-DOF Robotic Arm using Fuzzy-PID Controller

Cited by 12 publications

References 12 publications

Comparison between Real Time PID and 2-DOF PID Controller for 6-DOF Robot Arm

Comparison between Real Time PID and 2-DOF PID Controller for 6-DOF Robot Arm

Modelling, Control and Simulation of a SCARA PRR-Type Robot Manipulator

Selection of Construction Project Taking into Account Technological and Organizational Risk

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