Comparison between FLC and PID Controller for 5DOF Robot Arm

摘要：

Controlling robot manipulator is essential problem to guarantee the robot execute the desired task with minimum error. This paper presents a fuzzy logic controller (FLC) for manipulating 5DOF robot arm based on independent joint control method. The proposed controller design aims to overcome the drawbacks of classical PID controller. The simulation is done using Matlab/SIMULINK by comparing the performance of the two controllers for Lynx6 robot arm in terms of time response. Based on the simulation results, the FLC provides good results than PID controller.

关键词： component 5D0F Robot Arm PID Controller Fuzzy Logic Controller

作者: Ahmed Z.Alassar Iyad M.Abuhadrous Hatem A.Elaydi

作者单位: Electrical Engineering Department Islamic University of Gaza Gaza,Palestine Engineering Program Palestine Technical College Deir ElBalah,Palestine Electrical Engineering Department Islamic University of Gaza,Gaza,Palestine

会议类型: 国际会议

会议名称: The 2nd IEEE International Conference on Advanced Computer Control(第二届先进计算机控制国际会议 ICACC 2010)

会议地点: 沈阳

会议语种:英文

页码: 277-281

在线出版日期: 2010-03-27（万方平台首次上网日期，不代表论文的发表时间）