Genetic Fuzzy Based Tracking Control of 3 DOF Robot Arm

摘要

The essential problem in controlling robots is to make the manipulator follow a desired trajectory. This paper presents the genetic algorithm tuned fuzzy PID controller (GAFPID) to follow the desired trajectory for a three degree of freedom (DOF) robot arm. Numerical simulation using the dynamic model of three DOF robot arm shows the effectiveness of the approach in trajectory tracking problems. Comparative evaluation with respect to PD, PID and fuzzy PID controls are presented to validate the controller design. The results presented emphasize that a satisfactory tracking precision could be achieved using the proposed controller than conventional controller.