Development and implementation of intelligent control strategy for robotic manipulator

摘要

This paper investigates different issues involved in the control of the robotic manipulator such as the effect of external disturbance and parameter variations on the trajectory tracking. Different intelligent control strategies such as trajectory following control law partitioning (PID) control, model reference adaptive control (MRAC) and fuzzy logic control are applied to servomotor driven 2-DOF SCARA arm, which was fabricated at the Centre for Robotics, BITS, Pilani. An analysis of the above control strategies is made in terms of tracking errors, steady state errors and robustness of the system. The fuzzy controller is found to have better accuracy, faster convergence and no effect of parameter variations on overall system performance.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>