Abstract:
There are many fields for the applications of robot manipulators to execute the given tasks such as
material handling, painting, welding, pick-and-place operations, undersea explorations, space
manipulation, hazardous field, etc. The important role of industrial robot manipulators is to substitute
labor power by doing the repetitive, dangerous and mundane tasks in different type of application area.
The robotic systems design and their control methods are difficult to make zero error for complex
activity like, welding electronics, inspection and medical tasks. Those tasks need high accuracy and
precisions especially on medical fields like surgical operations. To achieve the desired task the position
and orientation (pose) of end effector or tool must be controlled to be complete the execution of the
specific task. The above stated goal to have the sound knowledge of modeling of the robot arm and to
solve the control problems. The kinematic modeling is the first task to study the position and
orientation of the end effector numericaly performed and see the kinematic analysis using Matlab
toolbox. Then the independent joint controlling will apply for each joint actuators. The main objective
of thesis concerned about Performance study of Kinematic Control of 6 DOF Robot Arm Using Fuzzy
Logic Control. From existing robots type I select KUKA KR 16-2 manipulator robot as case study.
The study performed using theoretical analysis including forward and inverse kinematic
mathematical modeling approach of the robot based on transformation matrix , the kinematic
modeling implemented by robot toolbox that work under MATLAB program, the forward and
inverse kinematic simulation done by robot toolbox with MATLAB/SIMULINK environment. Then
the simulation show as the pose of end effector of the robot. Design of the robot controller using fuzzy
logic controller (FLC) method and the result were compared with the proportional integral derivative
controller (PID) use as benchmark then the discussion will done based on the result output in terms
time of response. FLC gives as better results than PID controller in terms of time response of the settling
time minimum and no overshot, but PID is better result gives fast rising time than FLC
