Performance Analysis of OWMR Directional Wheels

Robot Arm based on (ANFIS+PID) controller

Osman Ibrahim Al-Agha
Zeinab mahmoud omer Department of Electrical and Control Engineering,
Department of Electrical and Control Engineering, Academy of Eng., Science College
University of Bahri Khartoum, Sudan
Khartoum, Sudan osiagha@yahoo.com
Zoba_alberegdar@hotmaill.com
khalid hamid Bilal
Aatif osman altahir bakr
Department of Communication Engineering,
Department of Electrical and Control Engineering, University of Science and Technology
University of Bahri Khartoum, Sudan
Khartoum, Sudan Khalidhamidk9@gmail.com
Atif.s.osman@gmail.com

Abstract— The main objective of this study is to design an robot to move smoothly, precisely and in a stable steady state
Adaptive Neuro Fuzzy Inference System (ANFIS) algorithm to manner.
solve the problem of finding the inverse kinematics to control the
movement of the modified PUMA 560 arm in robotic system. Conventional wheeled mobile robots (WMR) have limited
and restricted way of motion because they cannot move
Accuracy and stability are two major issues that face sideways without a preliminary maneuvering. Different types
designers when control system design is intended. Tuning the of mechanisms were developed for the improvement of the
system to coup with the variations and changes in the maneuverability of WMR. Despite, the conventional WMR
environment where the system is expected to work. In this paper couldn’t offer practical solutions to precision and stability
the mechanical design of modified PUMA 560 robotic arm with 6 problems.
DoF was revisited and implemented with new powerful features
and the experimental results were tracked. The main problem is A differential drive design which has two motors mounted
the dynamic equations which are nonlinear and time-varying in in fixed positions on the left and right side of the robot has a
the extreme. The challenge was how to manipulate these known deficiency; viz. it cannot drive in all possible
equations in such a way leading to a better performance directions. For this reason, this robot is called 'non-
regarding accuracy and stability of the system. The method used holonomic'. In contrast, a holonomic robot, using omni-
to control the base of robot arm which consists of 3-wheels with directional wheels, is capable of moving in any direction.[3]
120 degrees apart was designed and implemented. After that
accurate trajectory control methods which use Adaptive Neuro
II. DYNAMICS OF OWMR
Fuzzy Inference System of 3-wheels omni-directional mobile
robot were implemented. Thus the design of full new robot The dynamics of DC motor can be described as the
system structure was used in the validation and testing the equations (1) and (2) as follow
performance of proposed methods. This included modification of
the PUMA 560 arm by the addition of an omini-directinal
wheeled mobile robot (OWMR) base structure to the robotic La
d ia + R a L a + K 3ω = E
m
arm. This base consisted of three motors for 3-wheels which are dt (1)
positioned 120 degrees apart. The resulting robot was a modified
PUMA 560 robotic arm with 6 axes. The results obtained showed
a significant improvement in both accuracy and stability of the Rf
system proposed. Hence, objectives were met to a great extent. J 0ω m + b0ω m + = k2ia (2)
n
Keywords— Dynamics of OWMR; Mobile robot; trajectory
controller; omni-directional E, ia, La, Ra are the applied armature voltage, the armature
current, the armature inductance, the armature resistance, in
the order named. K3 is the back emf constant and k2 is the
I. INTRODUCTION motor torque constant. J0 is the combined inertia of the motor,
Mobile robot have a wide range of applications in a wide gear train and wheel referred to the motor shaft and b0 is the
range of industrial applications. A wide range of these viscous friction coefficient.
applications are in manufacturing and positioning of tools,
The transfer function of the state space representation of
equipment and systems. Real world applications need the
DC motor as follow:
 transfer function of DC motor =
1 ω 1 ω 2
(3) Z = Z 1 + Z 2
τs + 1 ω 1 + ω 2 ω 1 + ω 2
(4)

The value of τ is determined from the first order response of Substituting the fuzzy if-then rules into the equation 5
DC motor. below

III. TRACKING CONTROL AND ANFIS ESTIMATOR Z = ω 1 z1 + ω 2 z2 (5)

Here the accurate trajectory control method of 3-wheels
omni-directional mobile robot using adaptive neuro fuzzy
inference system ANFIS based on PUMA 560 as robotic arm
is implemented. The base of hardware design system is
composed from three wheels which are arranged 120 deg
apart.
Each wheel is driven by an electric motor (DC motor)
which are connected by a shaft encoder. An embedded system
unit consisting of sensors is used for the perception of desired
location. It is controlled by specific predetermined parameters
with proportional- integral differentiator (PID) plus ANFIS
controller law for each motor to follow the speed and direction
command from inverse kinematics. [5]
The controller structure using specific estimator is
designed and implemented. It is combined by history data. The
proposed hardware design is shown in the Fig. 1 there are two
methods of entering data, through firstly a keypad and
secondly by using sensors with decoders.[4]
The results are as follows
z1 = p1 x + q1 y + r1 (6)
(7)
z2 = p2 x + q2 y + r2
Tracking analysis (Scenario No.1):
After rearrangement, the output can be written as a linear
combination of the consequent parameters, [2].
The values of these consequent parameters must be
calculated to obtain the desired tracking system as shown in
table: 1.
To complete the hardware system design the pre-process
stage to determine the external parameter such as the time
constant of DC motor must be implemented. From
experimental results the value of τ = 0.65 (ms)-1.

Table 1: illustrate the proposed hardware tests scenarios

Case study Motor Angle Time (ms)
No. number (degree)
1 1 180 45
1 2 0 45
1 3 -180 45
2 1 0 98
2 2 180 98
2 3 0 98
3 1 0 125
3 2 180 125
3 3 180 125
4 1 -180 182
4 2 0 182
Fig. 1. Tracking Control Structure
4 3 -180 182
As we can see in Fig. 1, the design hardware is
implemented. The hardware components are solved by using
artificial algorithms logic inference which can be used in a The optimal values of the consequent parameters can be
directly to do the control action of the modified PUMA 560 found by using the Least-Square Method (LSM). When the
robot arm using the fuzzy rules. premise and consequent parameters are adaptive, the search
If we refer to ANFIS controller architecture that when the space becomes larger and the convergence of training
values of the premise parameters are fixed, the output of the becomes slower.
ANFIS can be calculated using the following equations:
 The tracking tests will be performed by following the
tracks illustrates by table 1 showed a good performance of the
proposed new algorithms.

Tacking analysis ( scenario No.2)

The modified PUMA 560 6DoF robotic arm system is
implemented using advanced ANFIS algorithm and its optimal
values will be calculated as shown in table 2. The results are
obtained would analyze as follow:

A modified mobile robot with three omni-directional

wheel is developed as shown in Fig. 3. The DC motor with a
rated current of 4A and DC operating voltage of 6V is used for
driving the omnidirectional wheeled mobile robot. The
diameter of the wheel and the distance from center point of the
robot to the wheel is shown in Fig. 2.
Fig. 3. Configuration of Control System Tuning the PID
+ANFIS Controller
The consequent parameters that are used to track the
system are shown in Table 2.
Assume:

w1
= 0.5 y1
w1 + w2
w2
= 0.5 y2
w1 + w2
Since w1 = 1 & w2 = 1.
TABLE 2. The Values of Consequent Parameters

Fig. 2 Modified PUMA 560 with its Base is 3Wheels

OWMR

The configuration of tracking control system is given in

the Fig. 3. The encoder sensors are used for the Measurement
of the rotation speed of DC motors and sensor measures the
posture angle of OWMR.

Analysis of the above table 2 depends on the following

assumption:
 Assume the proposed hardware system has two inputs x, y
and its output are three DC motors corresponding to {ϴ1, ϴ2, The system shown in Fig. 5 (a) was not stable, thus the
ϴ3}. All ANFIS parameters are reflected by the symbols q, p tuning parameters values were changed to obtain the response
and r and its values are shown in table 2. The tracking process shown in Fig. 5 (b & c).
gives us good performance and the error at each motor is
appearing at Fig. 4.

Fig. 4. The Percentage Error at each Motor

During actual operation the stability problem might arise.
Thus the checkup process of hardware system design must be Fig. 5(b): Illustrate the Effect of Consequent Parameters at the
implemented as shown from the following analysis. Performance of the System
In Fig. 5(c) the system has become stable with the optimum
value of consequent parameters and PID controller constants.

Fig. 5(c) Illustrate the Effect of Consequent Parameters at the

Performance of the System

In Fig. 5(c). The system has become stable with the

optimum value of consequent parameters and PID controller
constants.
Fig. 5(a). The Step Response and Nyquist Diagram of the DC
Motor with first tuning values
 IV. EXPERIMENTAL RESULTS
A mobile robotic arm with the base consisting of 3 omni-
directional wheels which acted as the base of our modified
PUMA 560 robotic system is designed and implemented. The
consequent parameters are calculated and determined to obtain
the best performance to revalidate the tracking system as
mentioned above. The percentage error at each motor was
calculated. Values obtained indicate a good performance as
the desired position could be reach with high accuracy. This is
very clear from the results elaborated in the figures above
Time response of the system has improved and this
improvement appears in the form of less rising time, less
overshoot and less settling time.
The frequency response also has improved showing higher
values for gain and phase margins
The maximum percentage error is 0.78% which reflects
that this new ANFIS algorithm is powerful and gives us the
best controller system.
The comparison between the literature results and the
results obtained from the modified PUMA 560 robotic system
indicate that the difference between two results does not
exceed 0.85% as percentage error.
References
[1] Y. L. Sun and M. J. Er, “Hybrid fuzzy control of robotics systems,”IEEE
Transactions on Fuzzy Systems, vol. 12, no. 6, pp. 755–765,2004.
[2] M Spong, M Vidyasagar, Robot dynamics and control. Wiley, New
York.
[3] www.wseas.us
[4] J. S. R. Jang, ANFIS: Adaptive-Network-based Fuzzy Inference
Systems, IEEE Transactions on Systems, Man, and Cybernetics, Vol. 23,
No. 03, pp. 665-685, 1993.
[5] 21. J. S. R., C. T, Jang, E Sun. Mizutani, Neuro-Fuzzy and Soft
Computing, PTR Prentice Hall, 1997