INVERSE KINAMATICS ANALYSIS AND REAL TIME CONTROL OF 5-DOF ROBOT ARM USING PID AND FUZZY LOGIC CONTROLLERS WITH FRICTION MODELING

Document Type : Original Article

Authors

1 Production Technology Department, Faculty of technology and Education, Helwan University, Cairo, Egypt.

2 Electronics Department, Faculty of Technology and Education, Helwan Universiy, Cairo, Egypt.

3 Electronics Department, Faculty of technology and Education, Helwan University, Cairo, Egypt.

Abstract

Robots represent a vital base in modern and future industry. Hence, robot motion control is an important area for research. In this work, inverse kinematics analysis and real-time control of a 5-DOF robot arm are developed and simulated to reach specified positions with minimal error. Rules for analyzing inverse kinematics are developed for the robot arm using the geometric approach, along with analyzing DC motor models, and friction torque equations are introduced. Two control techniques were discussed: a PID controller is initially used, followed by the implementation of a fuzzy logic controller (FL). A FL controller is designed based on Mamadani pro-Max inference. Four defuzzification methods (BOA, MOM, SOM, and COG) are compared. Simulations were conducted using Matlab and Simulink. The methods BOA, MOM, and SOM are similar in giving optimum results. The results of both controllers were compared. FL outperforms PID, with lower rise time, settling time, steady-state error, and less overshoot. Real-time control has been performed. The system performance was good as the output tracks the reference input signal in a good way, and the FL gave better results also.

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