PD, PID and fuzzy logic control of three link planar arm

E. Eroglu; G. Cansever; I. B. Kucukdemiral; B. Dalci

doi:10.1109/ROMOCO.2004.240644

PD, PID and fuzzy logic control of three link planar arm

E. Eroglu, G. Cansever, I. B. Kucukdemiral, B. Dalci

Instrumentation and Control

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

2 Citations (Scopus)

Abstract

In this study we consider the control of a three link planar robot manipulator. Specifically we use PD, PID and fuzzy type controllers. We then illustrate how PD, PID controllers can be designed. We also illustrate how to design a fuzzy logic controller for the robot manipulator. We follow the computed torque method strategy to develop our controllers. We try to find advantages of each control law by simulations. Simulation results are included to illustrate the performance of the controllers.

Original language	English
Title of host publication	Proceedings of the Fourth International Workshop on Robot Motion and Control
Place of Publication	Poznah University of Technology
Pages	191-196
Number of pages	6
DOIs	https://doi.org/10.1109/ROMOCO.2004.240644
Publication status	Published - 1 Jun 2004

Keywords

PD control
three-term control
fuzzy control
manipulators
control system synthesis
PID control
fuzzy logic control
three link planar robot manipulator
computed torque method strategy
Three-term control
Fuzzy logic
Robot kinematics
Manipulator dynamics
Robot control
Motion control
Service robots
Torque control
Friction
Control systems

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10.1109/ROMOCO.2004.240644

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title = "PD, PID and fuzzy logic control of three link planar arm",

abstract = "In this study we consider the control of a three link planar robot manipulator. Specifically we use PD, PID and fuzzy type controllers. We then illustrate how PD, PID controllers can be designed. We also illustrate how to design a fuzzy logic controller for the robot manipulator. We follow the computed torque method strategy to develop our controllers. We try to find advantages of each control law by simulations. Simulation results are included to illustrate the performance of the controllers.",

keywords = "PD control, three-term control, fuzzy control, manipulators, control system synthesis, PID control, fuzzy logic control, three link planar robot manipulator, computed torque method strategy, Three-term control, Fuzzy logic, Robot kinematics, Manipulator dynamics, Robot control, Motion control, Service robots, Torque control, Friction, Control systems",

author = "E. Eroglu and G. Cansever and Kucukdemiral, {I. B.} and B. Dalci",

year = "2004",

month = jun,

day = "1",

doi = "10.1109/ROMOCO.2004.240644",

language = "English",

isbn = "83-7143-272-0 ",

pages = "191--196",

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T1 - PD, PID and fuzzy logic control of three link planar arm

AU - Eroglu, E.

AU - Cansever, G.

AU - Kucukdemiral, I. B.

AU - Dalci, B.

PY - 2004/6/1

Y1 - 2004/6/1

N2 - In this study we consider the control of a three link planar robot manipulator. Specifically we use PD, PID and fuzzy type controllers. We then illustrate how PD, PID controllers can be designed. We also illustrate how to design a fuzzy logic controller for the robot manipulator. We follow the computed torque method strategy to develop our controllers. We try to find advantages of each control law by simulations. Simulation results are included to illustrate the performance of the controllers.

AB - In this study we consider the control of a three link planar robot manipulator. Specifically we use PD, PID and fuzzy type controllers. We then illustrate how PD, PID controllers can be designed. We also illustrate how to design a fuzzy logic controller for the robot manipulator. We follow the computed torque method strategy to develop our controllers. We try to find advantages of each control law by simulations. Simulation results are included to illustrate the performance of the controllers.

KW - PD control

KW - three-term control

KW - fuzzy control

KW - manipulators

KW - control system synthesis

KW - PID control

KW - fuzzy logic control

KW - three link planar robot manipulator

KW - computed torque method strategy

KW - Three-term control

KW - Fuzzy logic

KW - Robot kinematics

KW - Manipulator dynamics

KW - Robot control

KW - Motion control

KW - Service robots

KW - Torque control

KW - Friction

KW - Control systems

U2 - 10.1109/ROMOCO.2004.240644

DO - 10.1109/ROMOCO.2004.240644

M3 - Conference contribution

SN - 83-7143-272-0

SP - 191

EP - 196

BT - Proceedings of the Fourth International Workshop on Robot Motion and Control

CY - Poznah University of Technology

ER -

PD, PID and fuzzy logic control of three link planar arm

Abstract

Keywords

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