PD, PID and fuzzy logic control of three link planar arm

E. Eroglu, G. Cansever, I. B. Kucukdemiral, B. Dalci

Research output: Chapter in Book/Report/Conference proceedingConference contribution

2 Citations (Scopus)


In this study we consider the control of a three link planar robot manipulator. Specifically we use PD, PID and fuzzy type controllers. We then illustrate how PD, PID controllers can be designed. We also illustrate how to design a fuzzy logic controller for the robot manipulator. We follow the computed torque method strategy to develop our controllers. We try to find advantages of each control law by simulations. Simulation results are included to illustrate the performance of the controllers.
Original languageEnglish
Title of host publicationProceedings of the Fourth International Workshop on Robot Motion and Control
Place of PublicationPoznah University of Technology
Number of pages6
Publication statusPublished - 1 Jun 2004


  • PD control
  • three-term control
  • fuzzy control
  • manipulators
  • control system synthesis
  • PID control
  • fuzzy logic control
  • three link planar robot manipulator
  • computed torque method strategy
  • Three-term control
  • Fuzzy logic
  • Robot kinematics
  • Manipulator dynamics
  • Robot control
  • Motion control
  • Service robots
  • Torque control
  • Friction
  • Control systems


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