4DOF robot kolu modelleme ve kontrolü

PID controllers are used in industrial controllers for 4 DOF robot arms. When a PID controller is used without a tuning method, the response has time-domain specifications that are unsuitable (maximum-overshot, settling-time, rise-time, etc.). The Ziegler-Nichols method was introduced as the standard tuning method for PID controllers. The enhancement of the response time-domain specifications using this method is insufficient. To obtain suitable time-domain specifications of the response, fuzzy logic with and without PID-controller, as well as Sliding Mode Controller (SMC), have recently been introduced. In light of the response time domain specifications and steady state error, this study will present a new comparative study for these four controller methods applied on a four-DOF robot arm. In the simulation, the sliding mode controller performed better in terms of response time than the PID Controller, with no overshoot response. Matlab/Simulink is used to obtain simulation results. The simulation results show that for robot arm control, Sliding mode controller outperforms PID, FLC, and FPID. The desired speed is perfectly tracked and responds better than the others in case of changes in load and system disturbances because the SMC is robust in the presence of disturbances.