Modeling and Fuzzy Control of the Unimation PUMA 560 Shoulder Actuator Position
DOI:
https://doi.org/10.17979/ja-cea.2025.46.12275Keywords:
cascade control, fuzzy logic, PUMA 560 manipulator, F-PD+I controller, trajectory trackingAbstract
This work investigates the position control of the Unimation PUMA 560 shoulder joint actuator using a cascaded control architecture, comprising an inner velocity control loop and an outer position control loop. A Mamdani-type fuzzy PD+I controller is implemented in the inner loop to avoid the complexity of a full fuzzy PID scheme rule set, while a linear proportional controller is employed in the outer loop. The system model captures key nonlinear behaviours arising from variable loads and friction. Simulations are conducted under both nominal conditions and a 20 N·m disturbance torque introduced to emulate gravitational effects, with tracking performance evaluated using a combination of time-domain metrics and quantitative indicators.
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Copyright (c) 2025 Alejandro Fernández-Infante Sánchez-Camacho, Matilde Santos, Jesus Enrique Sierra Garcia
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