Position control of two link robot system by PD & fuzzy controller

Abstract

In the present work a simulation model for the position control of a two-link-robot has been developed. The position controls have been performed over two joint axes, using brushless DC motor. A brushless DC motor drive included in the present model comprises two position control loop, i.e. speed and torque control, for studying and analyzing the movement of robot over different axes. Five different ranges of angular position have been considered in the present study. To explore, best optimal position of a robot movement through the varying operating characteristics of a brushless DC motor, two types of control system has been implemented and developed here, i.e. conventional proportional derivative controller and non-conventional fuzzy logic controller. The values of angular position, speed and subsequently the torque, relating to the two axes robotic motion have been obtained more towards the given reference value, by the employment of fuzzy logic controller.