Comparative Analysis of Handball and Volleyball Overarm Movements Using Fuzzy PID Control

This study investigates the modeling and control of overarm movements in handball throw and volleyball spike. The objective is to develop an adaptive control system capable of accurately replicating these high-speed upper-limb actions. The kinematic and dynamic structures of the arm are modeled using the Denavit–Hartenberg method, providing a systematic framework for deriving the motion equations of each joint. A Fuzzy Proportional–Integral–Derivative (Fuzzy PID) controller is implemented to achieve precise trajectory tracking. The controller integrates fuzzy logic with conventional PID control to dynamically adjust gains based on real-time feedback, ensuring robust performance under varying motion conditions. Simulations are carried out for both sports to compare joint angles, torques, and tracking errors. Results show that the Fuzzy PID controller effectively tracks desired trajectories with minimal overshoot and steady-state error. The handball throw exhibits higher torque requirements, while the volleyball spike demonstrates greater coordination among multiple joints. These findings highlight the efficiency of the proposed control approach in managing complex overarm dynamics. The developed framework can be applied in humanoid robotics, prosthetic systems, and sport biomechanics for improved motion replication and analysis.

کلیدواژه ها:

Overarm movements ، Fuzzy PID controller ، Denavit–Hartenberg parameters ، Biomechanical modeling ، Trajectory tracking