Control and Id?ntification of 5DOF Robotic Manipulator Parameter using Artificial Int?lligenc? Technique

Abstract

To compile the appropriat? positioning of th? industrial robot manipulator ?nd-?ff?ct, th? static collection of the joint angl?s of th? industrial robot manipulator must first b? translat?d into position coordinat?s using th? forward kin?matics proc?ss and ?ach joint rotation must b? p?rform?d using s?rvomotor f??dback control. Th? kin?matic mod?l is v?rifi?d using th? MATLAB® Robotics Toolbox. This work proposing the ?nd-?ff?ct-bas?d 5 degree fr??dom (5-DOF) platform with int?llig?nt controll?r, which us?s a DC s?rvomotor for th? activation of thr?? conn?ctiv? r?volving joints. Mod?ling with forward kin?matics and inv?rs? kin?matics was tak?n with D?navit Hart?rb?rg (DH) r?pr?s?ntation. Th? PID controll?r with Fuzzy logic bas? is us?d with diff?r?nt blurring strat?gi?s. Th? simulation output r?sults using MATLAB show that PID has sup?rior output in t?rms of transi?nt param?t?rs. In th? St?ady Stat? R?spons?, both th? PID and th? Fuzzy logic controll?r manag? to conv?rg? to th? d?sir?d output, but th? FLC ov?rshot is outp?rform?d.