Embedded Fuzzy PD Controller for Robot Manipulator

摘要

The purpose of the paper is to conduct an investigation and obtain a solution through designing a fuzzy proportional-derivative (PD) controller to overcome the uncertainties of a robot manipulator in real-time, like disturbances and other variations. The fuzzy logic controller plays a big rule especially in case of quantitative data shortage relating the input to output in industrial processes and other different fields. The suggested controller achieves robust trajectory tracking. The analysis of performance for the PID, 2-DOF-PID, and fuzzy PD carried out simulatively through using Matlab and practically by using a microcontroller to prove that the proposed fuzzy PD controller has advantages of faster response, better stability, and less overshoot in a comparison with other traditional controllers, furthermore, even in the presence of uncertainties, the performance of the proposed controller for trajectory tracking is robust.