Trajectory Tracking Control Simulation of a 4-DOF SCARA Robot Manipulator Using Fuzzy Sliding Mode Controller with PID Sliding Surface
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Date
2017
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Addis Ababa University
Abstract
Research and development of controlling industrial robot is an active research area. The
methodologies for controller design development are considered as the key for the robot in the
industrial applications. One of the most widely used industrial robots is the SCARA robot due to its
high precision, high speed, small dimensions, simple and reliable structure, and ease of installation.
The study reported is on design and simulation of fuzzy sliding mode controller with PID sliding
surface for a 4 DOF Selective Compliance Assembly Robot Arm (hereafter called SCARA).
The main objective of this thesis is to control a SCARA robot arm using two controllers to track the
desired position. Sliding mode controller (SMC) is used as a reference benchmark to compare its
result with fuzzy sliding mode controller (FSMC) with PID sliding surface result.
Euler – Lagrange approach has been used to drive the complete dynamic model of SCARA robot, the
stability of the system has been analyzed by using Lyapunov method, the controller has been
implemented using MATLAB and performance analysis has been done. The simulation results show
that the newly proposed controller has removed chattering phenomena from input torque, minimized
the magnitude of controller effort, and has reduced the tracking error (order of for first,
second, fourth joint and of for third joint).
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Keywords
SCARA robot, Fuzzy Control, Sliding Mode Control, Fuzzy Sliding Mode Controller