Fuzzy-Based Controller Design for Intelligent Robot Arm


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Abstract


In this paper, a fuzzy logic-based control system is proposed, which lays emphasis on the functionality of the system rather than developing a mathematical model. Applied to an arm robot, it can achieve precise motion control along with power consumption minimization. Dynamic equations of the physical modeling of a two-arm planar robot were first derived and then a Proportional-Integral (PI) fuzzy logic controller was designed to maintain a desired trajectory of motion. Numerical results show promising performance since the proposed PI-type fuzzy logic controller can be used for trajectory tracking of dual-arm robots during safely load transportation tasks
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Keywords


Arm Robot; Dual-Arm Robot; Fuzzy Logic; PI; PID; PWM

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