Article Per Year (5 Year)
p-Index From 2019 - 2024
0.23
P-Index
This Author published in this journals
All Journal IAES International Journal of Robotics and Automation (IJRA)
Ibrahim N. Jleta
Department of Electrical and Computer Engineering, The Libyan Academy
Automotive Engineering Electrical & Electronics Engineering

Published : 1 Documents Claim Missing Document
Claim Missing Document
Check
Articles

Found 1 Documents
Search

 1 
Fuzzy logic controller design for PUMA 560 robot manipulator Abdel-Azim S. Abdel-Salam; Ibrahim N. Jleta
IAES International Journal of Robotics and Automation (IJRA) Vol 9, No 2: June 2020
Publisher : Institute of Advanced Engineering and Science

Show Abstract | Download Original | Original Source | Check in Google Scholar | Full PDF (855.279 KB) | DOI: 10.11591/ijra.v9i2.pp73-83

Abstract

The dynamic model of the robot manipulator contain from equations, these equations are nonlinear and contained from variations parameters due to variations in load, friction, and disturbance. The conventional computed torque (PD and PID) controllers are not highly suitable for nonlinear, complex, time-variant systems with delay. In this paper, the fuzzy logic controllers (FLC) has been used because it is efficient tools for control of nonlinear and uncertain parameters systems. This paper aims to design a fuzzy logic controller for position control of a PUMA 560 robot manipulator. Based on simulation results we conclude that the performance of the fuzzy logic controller in term of position tracking error in case of disturbance or load is better than the conventional computed torque (PD-CTC and PID-CTC) controllers.
Co-Authors Abdel-Azim S. Abdel-Salam