A STUDY OF POSITION CONTROL OF SCARA ROBOT USING FUZZY LOGIC CONTROLLER

Abstract

Scara Robot is the most commonly used industrial robot today. With a strong
nonlinear model, Robot Scara is a difficult object to precisely control, so this is a
much-researched topic, including the control using artificial intelligence. This
paper studies the problem of building a simulation of Scara Robot with two
degrees of freedom, controlling the position of degrees of freedom according to
the preset position value using a fuzzy controller. The algorithms are built on
Matlab & Simulink software, in which controller parameters are adjusted
according to trial and error method and control experience. The result in this study
is that the fuzzy controller built and synthesized for Scara Robot control has met
the requirements of the quality criteria with the object that the classical controller
such as PID is not fully implemented. In addition, the results of this research are
the initial basis for the manufacture of controllers for Scara Robot, thereby
developing new and modern controls for other robots.