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101868

Comparative Study Methods of Trajectory Tracking Control for Robot Manipulator.

Article

Last updated: 04 Jan 2025

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Tags

Electrical Engineering

Abstract

In this article a three non-model based trajectory tracking controllers for rigid simple open chain robot manipulator are investigated. The first is a Fuzzy-PID controller, it is considered as a reference benchmark to compare its results with the others which are a proportional Derivative (PD) tuned using genetic algorithm (GA) and an Adaptive Neuro Fuzzy Inference System (ANFIS). The simulation is carried out for the first three joints of robot arm (PUMA560) aiming to track aquintic polynomial trajectory with minimum errors, and good disturbance rejection. Simulation results, shows that using Fuzzy-PID has better steady state error and RMS error than the ANFIS and PD tuned using GA. The three controllers are tested by simulated under the same conditions using SIMULINK under MATLAB2013a.

DOI

10.21608/bfemu.2020.101868

Keywords

PUMA560, Trajectories planning, Proportional Derivative (PD) controller, Adaptive Neuro Fuzzy Inference System (ANFIS), Fuzzy-PID controller

Authors

First Name

R.

Last Name

Hassan

MiddleName

-

Affiliation

Assistant lecturer, Electrical Engineering Department, Faculty of Engineering, Suez Canal University, Ismailia, Egypt

Email

riry4mody@yahoo.com

City

-

Orcid

-

First Name

F.

Last Name

Bendary

MiddleName

-

Affiliation

Professor, Electrical Engineering Department, Faculty of Engineering, Benha University, Shobra , Egypt

Email

fahmybendary10@gmail.com

City

-

Orcid

-

First Name

K.

Last Name

Elserafi

MiddleName

-

Affiliation

Associate Professor, Electrical Engineering Department, Faculty of Engineering, Port Said University, Port Said, Egypt

Email

relserafi@hotmail.com

City

-

Orcid

-

First Name

A.

Last Name

Ghanem

MiddleName

-

Affiliation

Doctorate Engineer, Electrical Engineering Department, Faculty of Engineering, Suez Canal University, Shobra, Ismailia, Egypt

Email

amghanem@gmail.com

City

-

Orcid

-

First Name

M.

Last Name

Soliman

MiddleName

-

Affiliation

Doctorate Engineer, Electrical Engineering Department, Faculty of Engineering, Benha University, Shobra, Egypt

Email

msoliman_28@yahoo.com

City

-

Orcid

-

Volume

40

Article Issue

4

Related Issue

15416

Issue Date

2015-12-01

Receive Date

2015-06-10

Publish Date

2020-07-09

Page Start

1

Page End

12

Print ISSN

1110-0923

Online ISSN

2735-4202

Article File

BFEMU_Volume 40_Issue 4_Pages 1-12.pdf

PDF . 865.1kB

Link

https://bfemu.journals.ekb.eg/article_101868.html

Detail API

https://bfemu.journals.ekb.eg/service?article_code=101868

Order

1

Type

Research Studies

Type Code

1,205

Publication Type

Journal

Publication Title

MEJ. Mansoura Engineering Journal

Publication Link

https://bfemu.journals.ekb.eg/

MainTitle

Comparative Study Methods of Trajectory Tracking Control for Robot Manipulator.

Details

Type

Article

Created At

22 Jan 2023