Position Control of a Serial Manipulator Using Fuzzy-PID Controllers

• Main Authors: Yong-Lin Kuo, Shih-Min Liu
• Format: Article
• Language: English
• Published: Chinese Institute of Automation Engineers (CIAE) & Taiwan Smart Living Space Association (SMART LISA) 2015-02-01
• Series: International Journal of Automation and Smart Technology
• Subjects: Position Control; Serial Manipulator; Fuzzy-PID Controller.
• Online Access: http://www.ausmt.org/index.php/AUSMT/article/view/832

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.