Modeling and control of 5D of robot arm using supervisory control
Other Title(s)
التحكم المراقب لجهازِ روبوت من ذوي الخمسةِ مفاصل.
Dissertant
Thesis advisor
Abu Hadrus, Iyad
al-Aydi, Hatim Ali
University
Islamic University
Faculty
Faculty of Engineering
Department
Electrical Engineering Department
University Country
Palestine (Gaza Strip)
Degree
Master
Degree Date
2010
English Abstract
Modeling and control of 5 degree of freedom (DOF) robot arm is the subject 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.
Deriving both forward and inverse kinematics is an important step in robot modeling based on Denavit Hartenberg (DH) representation.
The main objective of this thesis is to control a robot arm using three controllers to acquire the desired position.
Proportional integral derivative (PID) controller is used as a reference benchmark to compare its results with fuzzy logic controller (FLC) and fuzzy supervisory controller (FSC) results.
FLC is applied as a second controller because of the nonlinearity in the robot manipulators.
We compare the result of the PID controller and FLC results in terms of time response specifications.
FSC is a hybrid between the previous two controllers.
The FSC is used for tuning PID gains since PID alone performs not satisfactory in nonlinear systems.
Hence, comparison of tuning of PID parameters is utilized using classical method and FSC method.
Based on simulation results, FLC gives better results than classical PID controller in terms of time response and FSC is better than classical methods such as Ziegler-Nichols (ZN) in tuning PID parameters in terms of time response.
Main Subjects
Topics
No. of Pages
105
Table of Contents
Abstract.
Table of contents.
Chapter one : introduction.
Chapter two : kinematics and mathematical modeling.
Chapter three : PID controller design.
Chapter four : Fuzzy logic controller.
Chapter five : Fuzzy supervisory controller.
Chapter six : Results.
Chapter seven : conclusion and future work.
American Psychological Association (APA)
al-Assar, Ahmad Zakari. (2010). Modeling and control of 5D of robot arm using supervisory control. (Master's theses Theses and Dissertations Master). Islamic University, Palestine (Gaza Strip)
https://search.emarefa.net/detail/BIM-300454
Modern Language Association (MLA)
al-Assar, Ahmad Zakari. Modeling and control of 5D of robot arm using supervisory control. (Master's theses Theses and Dissertations Master). Islamic University. (2010).
https://search.emarefa.net/detail/BIM-300454
American Medical Association (AMA)
al-Assar, Ahmad Zakari. (2010). Modeling and control of 5D of robot arm using supervisory control. (Master's theses Theses and Dissertations Master). Islamic University, Palestine (Gaza Strip)
https://search.emarefa.net/detail/BIM-300454
Language
English
Data Type
Arab Theses
Record ID
BIM-300454