Application of a novel fuzzy logic controller for a 5-DOF articulated anthropomorphic robot

摘要

An industrial robotic manipulator is bound to possess non-linearity which is prevalent due to high rate of production. As conventional Proportional plus Integral (PI) control technique fails to give accurate response with increase in non-linearity in production line, a Fuzzy Logic (FL) controller with suitable membership function has been proposed as an efficient replacement of existing control approach for robotic arm manipulator. The effectiveness of the proposed approach has been tested with various performance measures like settling time (ts). Other desirable features of a performance index are its power to effectively differentiate amongst an optimum or non-optimum system, its sensitivity to parameter variations and the ease of its analytical computation. Therefore, the use of cumulative error approaches for various set point changes for each joint are also analyzed. It is proved that by employing FL technique, the movement of the end effector can be controlled effectively than with a conventional PI controller. The simulation studies are carried out using SolidWorks and SIMULINK environment.