Call For Paper Volume:4 Issue:8 Aug'2017 |

Control of 5DOF Robot Arm using Feed Forward ANFIS Controller

Publication Date : 13/03/2016



Author(s) :

G.U.V.RAVI KUMAR.


Volume/Issue :
Volume 3
,
Issue 2
(03 - 2016)



Abstract :

G.U.V.RAVI KUMAR, Asst.Professor, ELECTRICAL & ELECTRONICS ENGINEERING, DADI INSTITUTE OF ENGINEERING & TECHNLOGY,  guv164@gmail.com. Abstract: Lynx6 Robot has been widely used in manufacturers of robot kits, including robot arms, biped walking robots, quadrupeds, hexapods, tracked and wheeled vehicles, and more. Thus to provide the necessary campaign in robot arm broadly linear motors are used. In this paper linear servo motor is considered, which will act as actuator. In order to perform actuator precisely and robustly, the robot controller should be designed suitably. Controlling of robot manipulator is challenging due to their nonlinearity nature and the modeling problem is necessary before applying control techniques to guarantee the execution of any task according to a desired input with minimum error. This paper presents the control of five degrees of freedom robot arm (Lynx Robot) using using new technique which is familiarly known as Feed forward ANFIS Controller.Using the Feed-forward technique to five DOF robot arm shows the effectiveness of the approach in minimum error during disturbances and load variations. Comparative evaluations with respect to PID, Fuzzy, And Fuzzy Supervisory are presented to validate the controller design. The results presented emphasize that to reduce the computational time and flexibility during disturbances, load variations that occur in robot manipulator can be minimized using Feed forward ANFIS Controller than PID, Fuzzy, and Fuzzy Supervisory controllers.


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Control of 5DOF Robot Arm using Feed Forward ANFIS Controller

February 23, 2016