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Design and modelling of 6 DOF revolute robot using fuzzy PID controller

Tarmizi, Mohd Radzi (2014) Design and modelling of 6 DOF revolute robot using fuzzy PID controller. Masters thesis, Universiti Tun Hussein Onn Malaysia.


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Designing a robot manipulator with great performance is one of the fields of interest in the industry. This is due to the nonlinearities and input couplings presented in the dynamics of the robot arm. This project report is concerned with the problems of modelling and control of a 6 degree of freedom direct drive arm. The research work was undertaken in the following five developmental stages; Firstly, the complete mathematical model of a 6 DOF direct drive robot arm including the dynamics of the brushless DC motors actuators in the state variable form is to be developed. In the second stage, the state variable model is to be decomposed into an uncertain model. Then, the Fuzzy PID Controller is applied to the robot arm. In the fourth stage, the simulation is performed. This is done through the simulation on the digital computer using MATLAB/SIMULINK as the platform. Lastly, the performance of Fuzzy PID controller is to be compared with the conventional controller which is PID. The simulation results show that the output performance of Fuzzy PID is greater than the performance of conventional method of PID controller.

Item Type: Thesis (Masters)
Subjects: T Technology > TJ Mechanical engineering and machinery > TJ210.2-211 Mechanical devices and figures. Automata. Ingenious mechanisms.
Depositing User: Normajihan Abd. Rahman
Date Deposited: 30 Jun 2014 08:03
Last Modified: 30 Jun 2014 08:03
URI: http://eprints.uthm.edu.my/id/eprint/5509
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