COMPARATIVE STUDY OF DIFFERENT CONTROL TECHNIQUES APPLIED ON 6 DOF ROBOT ARM

Most of the industrial controllers used today for 6 dof robot arm utilize pid controllers. using pid controller without tuning method leads to response with unsuitable time-domain specifications (maximum-overshot, settling-time, rise-time, …). ziegler-nichols method was introduced as the conventional method for tuning the pid controller. by using this method, the enhancement of the response time-domain specifications is not sufficient. recently, fuzzy logic with and without pid- controller, and genetic algorithm with pid-controller are also introduced to obtain suitable time- domain specifications of the response. this paper will introduce a new comparative study for these four tuning methods applied on 6 dof robot arm in view of the response time domain specifications and the steady state error. simulation results are obtained using the mat lap/simulink. the results show that the fuzzy with pid controller responds better than the others in case of change in load and system disturbances.