Comparative Analysis of Robotic Arm Efficiency: Evaluating PID and Fuzzy-PID Control using Printed Mechanical Structure and ESP8266 Integration

This study investigates the comparative effectiveness of manual PID tuning versus Fuzzy-PID control in enhancing the performance of a robot arm with two degrees of freedom (2-DOF). The experimental approach involves conducting two scenarios: manual tuning of PID parameters in Scenario 1 and utilizing a fuzzy algorithm for PID parameter tuning in Scenario 2. The novelty of this research lies in the new 3D mechanical design of the 2-DOF robot arm and the utilization of the ESP8266 microcontroller for implementing Fuzzy-PID control. Performance evaluation is conducted using Root Mean Square Error (RMSE) and Root Mean Square Percentage Error (RMSPE) calculations. The results reveal that Fuzzy-PID control significantly reduces errors compared to manual PID tuning, with lower RMSE and RMSPE values indicating more precise and stable control. These findings underscore the potential of integrating fuzzy logic with PID control to enhance system adaptability and flexibility. Additionally, the ESP8266 is capable of handling the computations required for fuzzy-PID control while being cost-effective.