Trajectory Tracking Control Simulation Of A 4-dof Scara Robot Manipulator Using Fuzzy Sliding Mode Controller With Pid Sliding Surface

Research and development of controlling industrial robot is an active research area. Thernmethodologies for controller design development are considered as the key for the robot in thernindustrial applications. One of the most widely used industrial robots is the SCARA robot due to itsrnhigh precision, high speed, small dimensions, simple and reliable structure, and ease of installation.rnThe study reported is on design and simulation of fuzzy sliding mode controller with PID slidingrnsurface for a 4 DOF Selective Compliance Assembly Robot Arm (hereafter called SCARA). rnThe main objective of this thesis is to control a SCARA robot arm using two controllers to track therndesired position. Sliding mode controller (SMC) is used as a reference benchmark to compare itsrnresult with fuzzy sliding mode controller (FSMC) with PID sliding surface result. rnEuler – Lagrange approach has been used to drive the complete dynamic model of SCARA robot, thernstability of the system has been analyzed by using Lyapunov method, the controller has beenrnimplemented using MATLAB and performance analysis has been done. The simulation results showrnthat the newly proposed controller has removed chattering phenomena from input torque, minimizedrnthe magnitude of controller effort, and has reduced the tracking error (order of for first,rnsecond, fourth joint and of for third joint).

Get Full Work

Report copyright infringement or plagiarism