Improving the Accuracy of Robotic Arm position using Fuzzy Logic Controller

Abstract

Robots are the latest technologies used to facilitate agricultural, industrial and medical tasks for humans and to make their life more stable and to accomplish tasks with utmost accuracy. Therefore, scientific studies continue to improve and develop the structure of robots and control methods, and has always been the mainly goal is to achieve the desired accuracy and the safety of enterprises and workers. Robots can be guided by an external control device or the control may be embedded within. The aim of this thesis is to improve the accuracy of a robotic arm position. This robot works with five motors and variable resistors that control the movement of the arm and a position sensor which connected to the microcontroller Arduino and controlled by the Proportional Integral Differential controller (PID). The control method is changed to fuzzy logic controller with the same robot’s hardware components. After sensing the robotic arm current position using MPU5060 sensor, a fuzzy controller compared the current position with the desired value that adjusted with the potentiometer then detected the error and corrected it and gave the desired output and the robotic arm performance was improved.