Most of the industrial controllers used today for 6 DOF robot arm utilize PID controllers. Using PID controller without tuning method leads to response with unsuitable time-domain specifications (maximum-overshot, settling-time, rise-time, …). Ziegler-Nichols method was introduced as the conventional method for tuning the PID controller. By using this method, the enhancement of the response time-domain specifications is not sufficient. Recently, fuzzy logic with and without PID-controller, and genetic algorithm with PID-controller are also introduced to obtain suitable time-domain specifications of the response. This paper will introduce a new comparative study for these four tuning methods applied on 6 DOF robot arm in view of the response time domain specifications and the steady state error. Simulation results are obtained using the Mat lap/Simulink. The results show that the Fuzzy with PID controller responds better than the others in case of change in load and system disturbances.
Al-Marzoqi, S., & Mansour, A. (2017). COMPARATIVE STUDY OF DIFFERENT CONTROL TECHNIQUES APPLIED ON 6 DOF ROBOT ARM. Journal of Al-Azhar University Engineering Sector, 12(42), 25-36. doi: 10.21608/auej.2017.19285
MLA
Samer Al-Marzoqi; Ahmad El-Bayoumy Mansour. "COMPARATIVE STUDY OF DIFFERENT CONTROL TECHNIQUES APPLIED ON 6 DOF ROBOT ARM", Journal of Al-Azhar University Engineering Sector, 12, 42, 2017, 25-36. doi: 10.21608/auej.2017.19285
HARVARD
Al-Marzoqi, S., Mansour, A. (2017). 'COMPARATIVE STUDY OF DIFFERENT CONTROL TECHNIQUES APPLIED ON 6 DOF ROBOT ARM', Journal of Al-Azhar University Engineering Sector, 12(42), pp. 25-36. doi: 10.21608/auej.2017.19285
VANCOUVER
Al-Marzoqi, S., Mansour, A. COMPARATIVE STUDY OF DIFFERENT CONTROL TECHNIQUES APPLIED ON 6 DOF ROBOT ARM. Journal of Al-Azhar University Engineering Sector, 2017; 12(42): 25-36. doi: 10.21608/auej.2017.19285
)
View on SCiNiTO