Performance Analysis of PID, PD and Fuzzy Controllers for Position\n Control of 3-Dof Robot Manipulator

摘要

Robot manipulators are extensively used in industrial applications because of\ntheir immense importance such as in constructions automation. Therefore,\ndesigning controllers to suit the intensive purpose of the application is one\nof the major challenges for control researchers. This paper presents\ncomparative analysis of three controllers on a 3-DOF robot manipulator. The\nproportional integral derivative (PID), proportional derivative (PD) and fuzzy\nlogic (FL) controllers were designed and applied to each of the link of the\nrobot by simulation. The performance of each control method was assessed using\nthe transient and steady state response characteristics. Comparisons of the\nresults obtained, PID and PD performed better in terms of Rise Time and\nSettling Time while the FLC exhibited reduced overshoot\n