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
Control theory (sociology)
PID controller
Fuzzy logic
Control engineering
Link (geometry)
Robot
Torque
Computer science
Robotic arm
Fuzzy control system
Controller (irrigation)
Planar
Control (management)
Engineering
Artificial intelligence
Temperature control
Physics
Subject Areas
Robotic Mechanisms and Dynamics
·Control and Systems Engineering ·Physical Sciences
Robotic Path Planning Algorithms
·Computer Vision and Pattern Recognition ·Physical Sciences
Control and Dynamics of Mobile Robots
·Control and Systems Engineering ·Physical Sciences
OpenAlex SDG Match
SDGs auto-classified by OpenAlex (score ≥ 0.4 shown).
Peace, Justice and strong institutions 81%
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