PID Control Versus Fuzzy Control for Spatial-Link Manipulator | ||||
| The Egyptian International Journal of Engineering Sciences and Technology | ||||
| Article 6, Volume 24, EIJEST, Vol. 24, 2018, February 2018, Page 40-47 PDF (355.76 K) | ||||
| Document Type: Original Article | ||||
| DOI: 10.21608/eijest.2018.97228 | ||||
 View on SCiNiTO | ||||
| Authors | ||||
| W Khalifa* 1; S Elnaggar2; M Ghazy2 | ||||
| 1Higher Technological Institute, Tenth of Ramadan city, P. O. Box: 228, Egypt | ||||
| 2Zagazig University, Zagazig city, 44519, Egypt | ||||
| Abstract | ||||
| This study addresses the control problem of spatial link manipulator for three degrees of freedom arm robot. A dynamic model is proposed, and the gravity effect is taken into consideration. In this paper the results of proportional-integralderivative, PID, are compared with the results of a fuzzy logic controller using MATLAB simulation for controlling the torque of the manipulator. The objective of the controller is to adjust the joints of the manipulator for the desired point. The outputs of the PID controller and gravity controller are combined and used as the commanded torque to the manipulator. The results show that the fuzzy logic control is superior to the PID control as the dynamic performance of the manipulator is considered. | ||||
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