Comparative study of fuzzy PD control and PI control for heavy duty robot

Author

Ko, Chang-Min ; Park, Seung-Kyu ; Yoon, Tae-Sung ; Kim, Doo-Hyeong ; Chung, Gwang-Jo

Author_Institution

Dept. of Electr. Eng., Changwon Nat. Univ., Changwon

fYear

2009

fDate

10-13 Feb. 2009

Firstpage

1

Lastpage

5

Abstract

This paper presents comparative experimental results of fuzzy PD control and PI control for a heavy duty robot which can handle an object of 600 kg. The gains of the PI control was determined by TAE(trial and error) method. The membership functions of the fuzzy PD controller were determined base on the control performance of the PI control and its result is compared to the PI control. This paper is a comparative study of the PI control and fuzzy PD control. The robot and motion controllers were designed and made by authors. The good control performance of the heavy duty robot was obtained by using simple control algorithm. This means that the robot was designed very well in control respect.

Keywords

PD control; PI control; fuzzy control; industrial robots; materials handling equipment; motion control; PI control; control algorithm; fuzzy PD control; heavy duty robot; motion controllers; trial and error method; Error correction; Fuzzy control; Fuzzy logic; Motion control; PD control; Pi control; Robot control; Service robots; Testing; Three-term control; Fuzzy Control; Gain Tuning; Heavy Duty Robot; PID control;

fLanguage

English

Publisher

ieee

Conference_Titel

Industrial Technology, 2009. ICIT 2009. IEEE International Conference on

Conference_Location

Gippsland, VIC

Print_ISBN

978-1-4244-3506-7

Electronic_ISBN

978-1-4244-3507-4

Type

conf

DOI

10.1109/ICIT.2009.4939718

Filename

4939718