Analyzing the Impact of Degrees of Freedom on the Performance of Fractional Order PID Controllers in Robotic Manipulators with Payloads

In this paper we design, simulate, and compare the implementation of FOPID and PID controllers in non- planar robotic manipulator arm systems with increasing degree of freedom (DOF) from two to six. A modular and iterative methodology of testing for manipulators, with any number and/or type of links, is proposed which can be tested with any metaheuristic optimization technique. In this paper we have demonstrated this model with PSO. The impact of increasing the DOF is explored in the presence of varying disturbances, and payload mass by comparing the accuracy of conventional PSO tuned FOPID controller and PSO-tuned PID controller.