Development and implementation of intelligent control strategy forrobotic manipulator

摘要

This paper investigates different issues involved in the controlof the robotic manipulator such as the effect of external disturbanceand parameter variations on the trajectory tracking. Differentintelligent control strategies such as trajectory following control lawpartitioning (PID) control, model reference adaptive control (MRAC) andfuzzy logic control are applied to servomotor driven 2-DOF SCARA arm,which was fabricated at the Centre for Robotics, BITS, Pilani. Ananalysis of the above control strategies is made in terms of trackingerrors, steady state errors and robustness of the system. The fuzzycontroller is found to have better accuracy, faster convergence and noeffect of parameter variations on overall system performance