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[17] Z. Sun, R. Xing, C. Zhao, and W. Huang, “Fuzzy auto-tuning PID control of
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[19] M. H. Reham, B. Fahmy, and E. Kamel, “Trajectory Tracking Control for Robot Manipulator using Fractional Order-Fuzzy-PID Controller”, Journal of Automation, Mobile Robotics & Intelligent Systems, vol. 12, no. 3, pp. 3-9, 2016. DOI: 10.5120/ijca2016908155.
[20] https://www.scilab.org/ accessed on May 17th, 2018.
[21] J. Denavit and R. S. Hartenberg, “A kinematic notation for lower-pair mechanisms based on matrices”, Journal of Applied Mechanics, Vol., 1 pp. 215-221, 1955
[2] R. Shah and A.B. Pandey, “Concept for Automated Sorting Robotic Arm,” 2nd International Conference on Material Manufacturing and Design Engineering, Procedia Manufacturing, Vol 20, pp. 400-405, 2018.
[3] J. Bruning, “Simulation based Planning of Machining Processes with Industrial ¨Robot,” 16th Machining Innovations Conference for Aerospace Industry - MIC2016, Procedia Manufacturing, Vol 6, pp. 17-24, 2016.
[4] D. Karastoyanov and S Karastanev, “Reuse of Industrial Robots,” IFAC PaperOnline, Vol 51, No. 30, pp. 44-47, 2018.
[5] T. Dewi, P. Risma, Y. Oktarina, and M. T. Roseno, “Perbandingan Desain dan Pemodelan Tangan Robot Lima Jari sebagai Sistem Underactuated”, Annual Research Seminar 2016, Vol 2, No. 1, pp. 139-145, 2016.
[6] R. Krishna et al., “Design And Implementation Of A Robotic Arm Based On
Haptic Technology,” vol. 2, no. 3, pp. 30983103, 2012.
[7] M. H. Ali, K. Aizat, K. Yerkhan, T. Zhandos, and O. Anuar, “Vision-based Robot Manipulator for Industrial Application,” International Conference on Robotics and Smart Manufacturing (RoSMa2018), Procedia Computer Science, Vol. 133, pp. 205-212, 2018.
[8] R. Kumar, P. Jitoko, S. Kumar, K. Pillay, P. Prakash, A. Sagar, R. Singh, and U. Mehta, “Maze Solving Robot with Automated Obstacle Avoidance,” 2016 IEEE International Symposium on Robotics and Intelligent Sensor, IRIS 2016, Procedia Computer Science, Vol. 105, pp. 57-61, 2017.
[9] O. P. Sahu, B. B. Biswal, S. Mukherjee, and P. Jha, “Multiple Sensor Integrated Robotic End-Effectors for Assembly,” 2nd International Conference on Innovation in Automation and Mechatronics Engineering ICIAME 2014, Procedia Computer Science, Vol. 14, pp. 100-107, 2014.
[10] P. S. Giao, P. M. O. Ramos, O. Postolache, and J. M. D. Pereira, “Tactile Sensors for Robotics Applications,” Measurement, Vol. 46, No. 3, pp. 1257-1271, 2013. https://doi.org/10.1016/j.measurement.2012.11.015.
[11] A. P. Singh, “Speed Control of DC Motor using Pid Controller Based on Matlab,” vol. 4, no. 6, pp. 2228, 2013.
[12] W. S. Pambudi and J. P. B. A. S. Pelawi, “Simulasi Folding Machine dengan
PID, P, PI, PD dan Fuzzy PD (Proportional Differential),” vol. 1, 2015.
[13] T. Dewi, P. Risma, and Y. Oktarina, “Fuzzy Logic Simulation as a TeachingLearning Media for Artificial Intelligence Class”, International Journal of Computer Applications, vol. 134, no. 15, pp. 22-29, 2016. DOI: DOI: 10.14313/JAMRIS 3-2018/13.
[14] S. Nurmaini, B. Tutuko, K. Dewi, V. Yuliza, and T. Dewi, Improving posture accuracy of non-holonomic mobile robot system with variable universe of discourse, Telkomnika (Telecommunication Comput. Electron. Control., vol. 15, no. 3, pp. 12651279, 2017.
[15] R. Sharma, K. P. S. Rana, and V. Kumar, “Performance analysis of fractional order fuzzy PID controllers applied to a robotic manipulator” Expert Systems with Applications, Vol. 41, No. 9, pp. 4274-4289, 2014. https://doi.org/10.1016/j.eswa.2013.12.030.
[16] P. J. Gaidhane, M. J. Nigam, A. Kumar, and P. M. Pradhan, “Design
of interval type-2 fuzzy precompensated PID controller applied to twoDOF robotic manipulator with variable payload,” ISA Transactions, 2018. https://doi.org/10.1016/j.isatra.2018.12.030.
[17] Z. Sun, R. Xing, C. Zhao, and W. Huang, “Fuzzy auto-tuning PID control of
multiple joint robot driven by ultrasonic motors,” Ultrasonics, Vol. 46, No. 4, pp. 303-312, 2007. https://doi.org/10.1016/j.ultras.2007.04.001.
[18] S. Krishna and S. Vasu, “Fuzzy PID based adaptive control on industrial robot
system,” Materialstoday Proceeding, Vol. 5, No. 5, Part 2, pp. 13055-13060.
https://doi.org/10.1016/j.matpr.2018.02.292.
[19] M. H. Reham, B. Fahmy, and E. Kamel, “Trajectory Tracking Control for Robot Manipulator using Fractional Order-Fuzzy-PID Controller”, Journal of Automation, Mobile Robotics & Intelligent Systems, vol. 12, no. 3, pp. 3-9, 2016. DOI: 10.5120/ijca2016908155.
[20] https://www.scilab.org/ accessed on May 17th, 2018.
[21] J. Denavit and R. S. Hartenberg, “A kinematic notation for lower-pair mechanisms based on matrices”, Journal of Applied Mechanics, Vol., 1 pp. 215-221, 1955
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Affiliations
Yurni Oktarina
Department of Electrical Engineering, Politeknik Negeri Sriwijaya
Fradina Septiarini
Department of Electrical Engineering, Politeknik Negeri Sriwijaya
Tresna Dewi
Department of Electrical Engineering, Politeknik Negeri Sriwijaya
Pola Risma
Department of Electrical Engineering, Politeknik Negeri Sriwijaya
Muhammad Nawawi
Department of Electrical Engineering, Politeknik Negeri Sriwijaya
Fuzzy-PID Controller Design of 4 DOF Industrial Arm Robot Manipulator
Abstract
Arm robot manipulator is the most applied robot to substitute human labor in industries. Due to the importance of arm robot manipulator in manufacturing lines, the robustness and effective design are essential in building an arm robot. This paper presents the controller, mechanical, and motion designs of an arm robot manipulator. The fuzzy logic controller is employed to ensure the effectiveness in detecting the target object. PID controller is designed to enhance the smooth and stability of robot motion. The simulation of how the robot move inside its workspace was conducted using RSTX toolbox in SciLab. The motion is generated by deriving Denavit-Hartenberg parameters of the mechanical design. The result shows the effective design of Fuzzy-PID controller and mechanical design of a pick and places arm robot manipulator.