文章基本信息

标题：Comparative Study of performance of Two-Link Manipulator Using Fuzzy and Fuzzy+PID Controller
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作者：Sibija V S ; Shyju Susan Mathew
期刊名称：International Journal of Innovative Research in Science, Engineering and Technology
印刷版ISSN：2347-6710
电子版ISSN：2319-8753
出版年度：2018
卷号：7
期号：5
页码：4707-4713
DOI：10.15680/IJIRSET.2018.0705040
出版社：S&S Publications
摘要：Robotics deals with the design, construction, operation and use of robots as well as computer systems for their control, sensory feedback and information processing. Robots are used in supplying the motion required in manufacturing processes such as pick and place, assembly, painting, milling, cutting, welding, drilling etc, For small parts insertion and assembly, a two revolute joint robot configuration with two degrees of freedom is well suited. Two-link manipulator is a dynamic system that exhibit nonlinear behaviour. Conventional linear methods are not gratifying to control nonlinear systems and therefore the linearization is done by using Taylor series expansion. In the linearization using Taylor series method the higher order terms are neglected. The aim of this paper is to design a controller which helps the manipulator to track the desired trajectory with minimum errors.
关键词：Two;Link Manipulator; Fuzzy controller; Fuzzy+PID controller