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首页> 外文期刊>IAES International Journal of Robotics and Automation >Modeling and Control of 5DOF Robot Arm Using Fuzzy Logic Supervisory Control
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Modeling and Control of 5DOF Robot Arm Using Fuzzy Logic Supervisory Control

机译：基于模糊逻辑监控的5自由度机器人手臂建模与控制

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Modeling and control of 5 degree of freedom (DOF) robot arm is the subject of this article. The modeling problem is necessary before applying control techniques to guarantee the execution of any task according to a desired input with minimum error. Deriving both forward and inverse kinematics is an important step in robot modeling based on the Denavit Hartenberg (DH) representation. Proportional integral derivative (PID) controller is used as a reference benchmark to compare its results with fuzzy logic controller (FLC) and fuzzy supervisory controller (FSC) results. FLC is applied as a second controller because of the nonlinearity in the robot manipulators. We compare the result of the PID controller and FLC results in terms of time response specifications. FSC is a hybrid between the previous two controllers. The FSC is used for tuning PID gains since PID alone performs not satisfactory in nonlinear systems. Hence, comparison of tuning of PID parameters is utilized using classical method and FSC method. Based on simulation results, FLC gives better results than classical PID controller in terms of time response and FSC is better than classical methods such as Ziegler-Nichols (ZN) in tuning PID parameters in terms of time response.
机译：5自由度（DOF）机械臂的建模和控制是本文的主题。在应用控制技术来保证根据所需输入以最小误差执行任何任务之前，建模问题是必不可少的。在基于Denavit Hartenberg（DH）表示的机器人建模中，导出正向运动学和逆向运动学是重要的一步。比例积分微分（PID）控制器用作参考基准，以将其结果与模糊逻辑控制器（FLC）和模糊监督控制器（FSC）的结果进行比较。由于机器人操纵器中的非线性，FLC用作第二个控制器。我们根据时间响应规范比较PID控制器的结果和FLC结果。 FSC是前两个控制器之间的混合体。 FSC用于调整PID增益，因为仅PID在非线性系统中不能令人满意。因此，使用经典方法和FSC方法比较PID参数的调整。根据仿真结果，在时间响应方面，FLC的效果优于传统PID控制器，而在调节PID参数方面，FSC优于传统方法如Ziegler-Nichols（ZN）。

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