Implementation of Fuzzy-PID Controller on Two-Link Robot

Abstract

The aim of this research is to design and practically implement a Fuzzy-PID controller along with solving the direct and inverse kinematics problems of a two-link robot for the joints of this robot. The subject of this study is a sentinel robot, whose main task is targeting, intruder detection, and shooting towards it. In general, the goal is for the weapon tip mounted on this robot to track a pre-defined path in three-dimensional space. This motion is converted to the movement of each joint by the inverse kinematics of the robot. It is required for each joint to move separately according to the desired path curve obtained from the inverse kinematics of the robot. This is done by a PID controller in which the coefficients KP, KI, and KD are adjusted by the fuzzy controller at each moment. The implementation of an intelligent controller practically on this robot is done by writing control algorithms in the C language on Arduino-based ARM microcontroller boards. In this research, by combining fuzzy control and classical PID control, the Fuzzy-PID control algorithm was created. This controller adjusts PID coefficients online and is resistant. According to the results obtained from the simulations, it is evident that this controller has desirable and robust performance in controlling the motion of the two-link sentinel robot.