earticle

영어

Robot manipulators are multi inputs-multi outputs, nonlinear and time variant system, therefore control of this system is the main challenge in robotic science. Control robot arm according to linear methodology are often having lots of problems because robotic systems are always highly nonlinear. Design accurate controller for robot manipulator is difficult because some dynamic parameters such as compliance and friction are not well understood and some robot parameters such as inertia are difficult to measure accurately and caused to variation in dynamic response. Fuzzy logic controllers have been applied in many applications. One of the important methods to solve above challenge is design adaptive controller based on fuzzy logic. In this paper, intelligent control of robot arm using Proportional-Integral-Derivative (PID) Adaptive Fuzzy Gain scheduling (PID-AFGS) is design for two degrees of robot arm.