Comparative Study Methods of Trajectory Tracking Control for Robot Manipulator.
Hassan, R., Bendary, F., Elserafi, K., Ghanem, A., Soliman, M. (2020). Comparative Study Methods of Trajectory Tracking Control for Robot Manipulator.. EKB Journal Management System, 40(4), 1-12. doi: 10.21608/bfemu.2020.101868
R. Hassan; F. Bendary; K. Elserafi; A. Ghanem; M. Soliman. "Comparative Study Methods of Trajectory Tracking Control for Robot Manipulator.". EKB Journal Management System, 40, 4, 2020, 1-12. doi: 10.21608/bfemu.2020.101868
Hassan, R., Bendary, F., Elserafi, K., Ghanem, A., Soliman, M. (2020). 'Comparative Study Methods of Trajectory Tracking Control for Robot Manipulator.', EKB Journal Management System, 40(4), pp. 1-12. doi: 10.21608/bfemu.2020.101868
Hassan, R., Bendary, F., Elserafi, K., Ghanem, A., Soliman, M. Comparative Study Methods of Trajectory Tracking Control for Robot Manipulator.. EKB Journal Management System, 2020; 40(4): 1-12. doi: 10.21608/bfemu.2020.101868

Comparative Study Methods of Trajectory Tracking Control for Robot Manipulator.

MEJ- Mansoura Engineering Journal
Article 1, Volume 40, Issue 4, December 2015, Page 1-12  XML PDF (844.82 K)
Document Type: Research Studies
DOI: 10.21608/bfemu.2020.101868
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Authors
R. Hassan email 1; F. Bendary2; K. Elserafi3; A. Ghanem4; M. Soliman5
1Assistant lecturer, Electrical Engineering Department, Faculty of Engineering, Suez Canal University, Ismailia, Egypt
2Professor, Electrical Engineering Department, Faculty of Engineering, Benha University, Shobra , Egypt
3Associate Professor, Electrical Engineering Department, Faculty of Engineering, Port Said University, Port Said, Egypt
4Doctorate Engineer, Electrical Engineering Department, Faculty of Engineering, Suez Canal University, Shobra, Ismailia, Egypt
5Doctorate Engineer, Electrical Engineering Department, Faculty of Engineering, Benha University, Shobra, Egypt
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.
Keywords
PUMA560; Trajectories planning; Proportional Derivative (PD) controller; Adaptive Neuro Fuzzy Inference System (ANFIS); Fuzzy-PID controller
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