Journal Press India^®

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Welding processes may become more efficient and precise if the robot arm is controlled properly. Welding characteristics such as temperature, Welding speed and vibration at the end effector may affect the location and velocity of the manipulator, hence a control system calibrated with these factors must be used to manage its movement. This work uses SIMULINK to manage a two-link stiff robotic manipulator system. SIMULINK was used to develop a FUZZY-PID controller whose output serves as an input to the plant in order to simulate the dynamic behaviour of the manipulator. The controller is getting an upgrade thanks to the Genetic Algorithm (GA). According to simulation findings, FUZZY PID had the lowest integral absolute error compared to the other three models (FUZZY PI, FUZZY PD, and PID Controller) (IAE). An updated dynamic PID model called FUZZY may be used to precisely position the robot arm along a predetermined pathway. An arc welding, casting, and load-bearing manipulator controller may benefit from this controller.

Keywords

Fuzzy PI; Fuzzy PD; IAE; Tracking; Error; Values

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