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

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Last updated: 13 Jan 2025

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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.

DOI

10.21608/jest.2025.327432.1108

Keywords

Fuzzy logic/PID controller, Robot Arm, Forward and Inverse kinematics, Open loop dynamics, Friction torque

Authors

First Name

Sabreen A.

Last Name

Abdelwahab

MiddleName

-

Affiliation

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

Email

engsabreenabdallah@gmail.com

City

Cairo

Orcid

0000-0003-3674-4987

First Name

Fatma El-Zahraa

Last Name

Said

MiddleName

-

Affiliation

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

Email

fatmaawad@techedu.helwan.edu.eg

City

-

Orcid

-

First Name

Hassan A.

Last Name

Hassan

MiddleName

-

Affiliation

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

Email

hassan_ahmed@techedu.helwan.edu.eg

City

Cairo

Orcid

-

First Name

Mohamed M.

Last Name

Gouda

MiddleName

-

Affiliation

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

Email

mohamedgouda@techedu.helwan.edu.eg

City

-

Orcid

-

Volume

22

Article Issue

1

Related Issue

52998

Issue Date

2025-01-01

Receive Date

2024-10-10

Publish Date

2025-01-01

Page Start

81

Page End

121

Print ISSN

2090-5882

Online ISSN

2090-5955

Article File

JEST_Volume 22_Issue 1_Pages 81-121.pdf

PDF . 3.4MB

Link

https://jest.journals.ekb.eg/article_404528.html

Detail API

http://journals.ekb.eg?_action=service&article_code=404528

Order

404,528

Type

Original Article

Type Code

1,211

Publication Type

Journal

Publication Title

Journal of the Egyptian Society of Tribology

Publication Link

https://jest.journals.ekb.eg/

MainTitle

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

Details

Type

Article

Created At

13 Jan 2025