Performance of Two-Link Robotic Manipulator Estimated Through the Implementation of Self-Tuned Fuzzy PID Controller

Robot manipulators become intensified major segments in the production sectors that are utilized in numerous applications such as welding, granulating, mechanical dealing, and assembling because of velocity, accuracy, and repeatability. These applications necessitate a legitimate path plan, appropriate generation of direction, and above all a control design. In a manipulator system, the links are expanded based on efficiency and versatility is upgraded alongside the complexity. This controller tuned to produce the least weighted sum of integral of absolute error and component of positive change in controller output. The controller has the advantage of examining and controlling a highly non-linear and rigid manipulator system. To optimize the system, a genetic algorithm is being used to provide an actual and desired result by incorporating a combination of a genetic algorithm with self-tuning fuzzy. PID is composing the controller much more superior and reliable.