Comparative study of different control techniques applied on 6 DOF robot arm
Joint Authors
Mansur, Ahmad al-Bayyumi
al-Marzuqi, Samir
Source
Journal of al Azhar University : Engineering Sector
Issue
Vol. 12, Issue 42 (31 Jan. 2017), pp.25-36, 12 p.
Publisher
al-Azhar University Faculty of Engineering
Publication Date
2017-01-31
Country of Publication
Egypt
No. of Pages
12
Main Subjects
Engineering & Technology Sciences (Multidisciplinary)
Abstract EN
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.
American Psychological Association (APA)
al-Marzuqi, Samir& Mansur, Ahmad al-Bayyumi. 2017. Comparative study of different control techniques applied on 6 DOF robot arm. Journal of al Azhar University : Engineering Sector،Vol. 12, no. 42, pp.25-36.
https://search.emarefa.net/detail/BIM-855926
Modern Language Association (MLA)
al-Marzuqi, Samir& Mansur, Ahmad al-Bayyumi. Comparative study of different control techniques applied on 6 DOF robot arm. Journal of al Azhar University : Engineering Sector Vol. 12, no. 42 (Jan. 2017), pp.25-36.
https://search.emarefa.net/detail/BIM-855926
American Medical Association (AMA)
al-Marzuqi, Samir& Mansur, Ahmad al-Bayyumi. Comparative study of different control techniques applied on 6 DOF robot arm. Journal of al Azhar University : Engineering Sector. 2017. Vol. 12, no. 42, pp.25-36.
https://search.emarefa.net/detail/BIM-855926
Data Type
Journal Articles
Language
English
Notes
Record ID
BIM-855926