Fuzzy PID Control for Multi-joint Robotic Arm

Abstract

This paper studies the experimental control of multi-joint robotic arm (Geomagi Touch haptic device) via a fuzzy PID controller. First, the system of Geomagi Touch haptic device is introduced, and the hardware-in-loop control scheme is established through Matlab Simulink. Then, fuzzy logic is utilized to update PID controller gains, where the parameters can be updated adaptively such that the performance of multiply joints can be optimized. Finally the effectiveness of the presented fuzzy controller is validated through real experiment.