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Modeling and control of 6 DOF industrial robot using fuzzy logic controller

Dulaidi, Dzulhizzam (2014) Modeling and control of 6 DOF industrial robot using fuzzy logic controller. Masters thesis, Universiti Tun Hussein Onn Malaysia.

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Abstract

Modeling and control of 6 degree of freedom (DOF) robot arm is the aim of this thesis. The modeling problem is necessary before applying control techniques to guarantee the execution of any task according to a desired input with minimum error. The main objective of this thesis is to control a robot arm using fuzzy logic controller (FLC) to acquire the desired position. FLC is applied to handle the nonlinearity in the robot manipulators. The performance of FLC is then compared with well known conventional controller, Proportional integral derivative (PID). The comparison between the PID controller and FLC results in terms of overshoot, time response and steady-state error specifications. Based on simulation results, FLC gives better results than classical PID controller in terms of overshoot, time response and steady-state error. Through this study it is proved that the FLC is more efficient in the time response behavior than the PID controller.

Item Type: Thesis (Masters)
Subjects: T Technology > TK Electrical engineering. Electronics Nuclear engineering > TK7800-8360 Electronics
Depositing User: Normajihan Abd. Rahman
Date Deposited: 08 Jul 2014 06:13
Last Modified: 08 Jul 2014 06:13
URI: http://eprints.uthm.edu.my/id/eprint/5487
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