Towards an Efficient Control Strategy for an Industrial Multi-DoF Robotic Arm

Towards an Efficient Control Strategy for an Industrial Multi-DoF Robotic Arm
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© 2025 by IJETT Journal
Volume-73 Issue-5
Year of Publication : 2025
Author : Ngoc-Khoat Nguyen, Sy-Viet Ho, Duy-Trung Nguyen, Quoc-Hoan Tran, Trung-Nguyen Tran, Tien-Dat Nguyen
DOI : 10.14445/22315381/IJETT-V73I5P127

How to Cite?
Ngoc-Khoat Nguyen, Sy-Viet Ho, Duy-Trung Nguyen, Quoc-Hoan Tran, Trung-Nguyen Tran, Tien-Dat Nguyen, "Towards an Efficient Control Strategy for an Industrial Multi-DoF Robotic Arm," International Journal of Engineering Trends and Technology, vol. 73, no. 5, pp.328-338, 2025. Crossref, https://doi.org/10.14445/22315381/IJETT-V73I5P127

Abstract
This study focuses on developing an optimized control scheme for a multi-Degree-of-Freedom (DoF) robotic manipulator, using a representative 4-DoF articulated arm as a case study. Various angular position control methodologies are implemented, encompassing both classical approaches, such as Proportional-Integral-Derivative (PID) control, and advanced intelligent techniques, including Fuzzy Logic Control (FLC) and Sliding Mode Control (SMC). Additionally, the Particle Swarm Optimization (PSO) method is used to find optimal tuning parameters for the controllers, significantly influencing the manipulator’s control performance. Comprehensive simulations, comparative analyses, and performance evaluations conducted in the MATLAB/Simulink environment validate the advantages and limitations of each proposed control strategy. Based on the theoretical framework and empirical findings, the PID controller optimized via the PSO algorithm, along with the SMC, demonstrates superior performance, establishing them as viable and effective solutions for multi-DoF robotic manipulators in industrial applications.

Keywords
Multi-DoF robotic arm, PID, FLC, SMC, PSO, Control performance.

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