Model Development and Simulation of a 3-Dof Manipulator Robot for Trajectory Control Using Artificial Intelligence

Industrial growth over time has demanded the use of robots to perform complex tasks in processes. One way to address this challenge has been through high-performance controllers. In this study, a 3-Degrees-of-Freedom (DoF) manipulator robot was modeled and simulations were performed to control its trajectory using artificial intelligence-based controllers: fuzzy PD+I and neural networks. Additionally, a conventional PID was used, and finally, the three controllers were evaluated with two types of trajectories. The results showed the fuzzy PD+I to be the most effective controller regardless of the presence of abrupt changes in direction. © 2024 IEEE.