Comparison between conventional PID and Fuzzy PID supervisor for 3-DOF Scara type robot manipulator

This paper presents 3-dof Scara type robot manipulator using dynamic modeling. In this paper presents dynamic modeling of robot manipulator based on Lagrange formulation using Fuzzy PID supervisor and conventional PID controller and compare the performance. The purpose of designing Fuzzy PID supervisor to overcome the drawbacks of conventional PID controller because robot manipulators are nonlinear model then conventional PID cannot give satisfactory result. The performance of the two controllers is evaluated by Matlab/ Simulink in term of time response. Depend upon simulation results; Fuzzy PID supervisor produces good results than conventional PID controller.