Comparision of PID controller & adaptive neuro fuzzy controller for robot manipulator

摘要

This paper has been proposed to deal with controlling of robot manipulator. It utilizes method of Adaptive Neuro Fuzzy controlling to control position and trajectory tracking of robotic arm with three degree of freedom. This technique also handles the problems like tuning and uncertainties of system associated with proportional integral differential (PID) controller. It has ability to learn the multi processes related to the each of the links and produces accurate and desire controlling.