Comparison between FLC and PID Controller for 5DOF robot arm

Abstract

Controlling robot manipulator is essential problem to guarantee the robot execute the desired task with minimum error. This paper presents a fuzzy logic controller (FLC) for manipulating 5DOF robot arm based on independent joint control method. The proposed controller design aims to overcome the drawbacks of classical PID controller. The simulation is done using Matlab/ SIMULINK by comparing the performance of the two controllers for Lynx6 robot arm in terms of time response. Based on the simulation results, the FLC provides good results than PID controller.