Robot arm design and investigation of control with an fuzzy logic controller

In this thesis, fuzzy logic controllers position control of a six-axis rotary type robot arm design has been investigated. A Precise control of robot arms, which is a preferred version of robots that are widely used in the industry, especially in automatic production lines, is extremely important.PID controller, one of the traditional controllers, is used in the effective control of many systems. However, in the control of the systems, which both have excessive nonlinearity and are under the influence of disruptive inputs, negatively affecting the performance of the PID controller, the need for more durable controllers has been increased. The fuzzy logic controller, on the other hand, is preferred in sensitive and effective control due to its success in the control of nonlinear systems and its easy application. This study aims the precise control, three main arms making the positioning of a six-axis robot arm with a fuzzy logic controller except for the part of the wrist and gripper. Two types of structures called Mamdani and Sugeno are used in the fuzzy logic controller. Control of the robot arm in three axes providing axial positioning was carried out with both types of fuzzy logic controllers and the results obtained were also compared with the traditional PID controller. The step reference input tracking performance, in which the robot arm is moved from different starting positions to another position, and the dynamic reference input tracking performance, which includes more than one position, were investigated. In addition, in these inspections, trajectory planning was carried out to coordinate the movement of each limb of the robot arm together and to ensure proper transport. The control performance of the fuzzy logic controller and the trajectory planning performance of the fuzzy logic controller are shown in the simulation made in the Matlab/SimMechanics environment to control the six-axis robot arm.