Title :
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
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;
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
DOI :
10.1109/ICIT.2009.4939718
