Position Control of a Serial Manipulator Using Fuzzy-PID Controllers

Abstract

This paper presents the position control of a six-axis serial manipulator using a fuzzy-PID controller. The manipulator has six joints, and each joint is driven by a motor with an encoder used to sense the joint angle. To complete a position movement of the manipulator’s end-effector, the position coordinates first need to be converted to a sets of joint angles by using the inverse kinematics of the manipulator, and each joint rotation is executed using a motor feedback control. To demonstrate the performance of the fuzzy-PID controller, a PID controller and two fuzzy controllers are also applied. The results show that the fuzzy-PID controller provides improved performance with a smaller steady state error.