Comparison of the Performance of Robotic Prosthetic Limbs Motion using PID and Fuzzy Logic Control System
W.Widhiada, ING.Antara, IN.Budiarsa,IGN.Santhiarsa, T. Coglitore
University of Udayana
Abstract
Abstract The development of prosthetic limbs in Indonesia is still conventional. Users still have difficulty to move fake legs and spend a lot of energy. These problems can be reduced by using the robotic prosthetic limbs. Bionic robot leg movements can be regulated by the implementation of a control system on the Microcontrolle. The auto tuning parameters of PID control system design is using to achieve the optimal of the responses. Beside that this research is also using the intelligence control system that is Fuzzy Logic makes it easy to create a motion control system program from a dc motor mounted on the robotic foot joint. The purpose of this study is to compare the results of the performance of the use of PID control systems and fuzzy controls. The bionic robot leg control system produce the optimal motions, accurate movement and fast response by reducing signal errors, maximum overshoot, and faster settle time.
Keywords: Bionic robot leg, PID, Fuzzy Logic, Intelligent Control, Performance of motions
Topic: Mechanical Engineering