مشروع البحث: Fuzzy logic controller Design for PUMA 560 Robot Manipulator
| dc.contributor.advisor | جليطه, د. إبراهيم نصر | |
| dc.date.accessioned | 2025-03-10T08:28:02Z | |
| dc.date.available | 2025-03-10T08:28:02Z | |
| dc.description | The dynamic model of the robot manipulator contain from equations, these equations are nonlinear and contained from variations parameters due to variations in load, friction and disturbance. The conventional computed torque (PD and PID) controllers are not highly suitable for nonlinear, complex, time-variant systems with delay. In this thesis, the fuzzy logic controllers has been used because it is efficient tools for control of nonlinear and uncertain parameters systems. The aim of this thesis is to design a fuzzy logic controller for position control of a PUMA 560 robot manipulator. First, we have modeled Puma 560 Robot Manipulator using Robotics Toolbox produce by Peter Corke, this modeling has done on the kinematics and dynamics analysis. Second the simulation of Puma 560 robot manipulator with three controllers, PD computed torque controller, PID computed torque controller and fuzzy logic controller have done. The simulation implemented using MATLAB ® Robotics Toolbox (Peter Corke) and results of each controller are compared. The simulation results without disturbance were approximated. Then we added the disturbance torques as the external input to this robot and the simulation results of each controller with disturbance are compared. The performance of PD-CTC and PID-CTC with this disturbance became worse and it made errors along the path, because disturbance torques occurred to variations in load, coupling, and friction that act on the joint but when this disturbance torque has been added with fuzzy logic controller, the FLC achieved good tracking performance along the trajectory. Based on simulation results and the comparisons on the tables, we concluded that the performance of fuzzy logic controller in terms of position tracking error in case of disturbance or load is better than the conventional computed torque (PD-CTC and PID-CTC) controllers. | |
| dc.description.abstract | The dynamic model of the robot manipulator contain from equations, these equations are nonlinear and contained from variations parameters due to variations in load, friction and disturbance. The conventional computed torque (PD and PID) controllers are not highly suitable for nonlinear, complex, time-variant systems with delay. In this thesis, the fuzzy logic controllers has been used because it is efficient tools for control of nonlinear and uncertain parameters systems. The aim of this thesis is to design a fuzzy logic controller for position control of a PUMA 560 robot manipulator. First, we have modeled Puma 560 Robot Manipulator using Robotics Toolbox produce by Peter Corke, this modeling has done on the kinematics and dynamics analysis. Second the simulation of Puma 560 robot manipulator with three controllers, PD computed torque controller, PID computed torque controller and fuzzy logic controller have done. The simulation implemented using MATLAB ® Robotics Toolbox (Peter Corke) and results of each controller are compared. The simulation results without disturbance were approximated. Then we added the disturbance torques as the external input to this robot and the simulation results of each controller with disturbance are compared. The performance of PD-CTC and PID-CTC with this disturbance became worse and it made errors along the path, because disturbance torques occurred to variations in load, coupling, and friction that act on the joint but when this disturbance torque has been added with fuzzy logic controller, the FLC achieved good tracking performance along the trajectory. Based on simulation results and the comparisons on the tables, we concluded that the performance of fuzzy logic controller in terms of position tracking error in case of disturbance or load is better than the conventional computed torque (PD-CTC and PID-CTC) controllers. | |
| dc.identifier | 6983 | |
| dc.identifier.uri | https://dspace.academy.edu.ly/handle/123456789/1447 | |
| dc.subject | Fuzzy logic controller Design for PUMA 560 Robot Manipulator | |
| dc.title | Fuzzy logic controller Design for PUMA 560 Robot Manipulator | |
| dspace.entity.type | Project | |
| project.endDate | 2019 | |
| project.funder.name | هندسة الحاسوب | |
| project.investigator | عبد العظيم سعد عبد السلام | |
| project.startDate | 2018 | |
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