3 Serbestlik Dereceli Bir Robot Kolun Bulanık Mantık ve PID ile Kontrolü

Öz

Günümüzde robot kolları birçok endüstriyel uygulamada yaygın olarak kullanılmaktadır. Bu noktada, sağlık gibi alanlarda kullanılan robotlarda ise yüksek hassasiyetli kontrol işlemlerine ihtiyaç duyulmaktadır. Bu yüzden robota uygulanan kontrol yöntemi de önem arz etmektedir. Bu çalışmada ise üç serbestlik dereceli bir robotun uç işlevcisine değişken kuvvet uygulanmış ve bozucu girişlere karşı dayanıklılığı test edilmiştir. Bu işlem için PID kontrol ve bulanık mantık kontrol yöntemi kullanılmıştır. Benzetim ortamında tasarımı ve simülasyonu gerçekleştirilen robot kolunun bulanık mantık ve klasik PID ile kontrolü sağlanmış, sonuçlar karşılaştırmalı olarak sunulmuştur.

Anahtar Kelimeler

• Robotik kol,PID kontrol,Bulanık mantık kontrol

Fuzzy Logic and PID control of a 3 DOF Robotic Arm

Abstract

The robotic arms are used in many industrial applications at the present time. At this point, high precision control is required for robotics used in fields such as healthcare area. Therefore, the control method applied to robots is also important. In this study, a force was applied to the end function of a three degree-of-freedom robot and the robustness of the controllers are tested. PID and Fuzzy Logic control method are used for this process. The control process of robotic arm which is designed and simulated is obtained by using Fuzzy Logic and classical PID controllers and the results are presented comparatively

Keywords

• Fuzzy Logic,Fuzzy Logic and PID control of a 3 DOF

References

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