Fuzzy-Based Controller Design for Intelligent Robot Arm
(*) Corresponding author
the author of the article can submit here a request for assignment of a DOI number to this resource!
Cost of the service: euros 10,00 (for a DOI)
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
Copyright © 2014 Praise Worthy Prize - All rights reserved.
Zadeh L.A., “Fuzzy sets,” Information and Control, Vol. 8, 1965, pp. 338-353.
Emami M.R., Goldenberg A.A., Turksen, B.I., “Fuzzy-logic control of dynamic systems: from modeling to design, “Engineering Applications of Artificial Intelligence, Vol. 13, 2000, pp. 47-69.
Lee, J., “On methods for improving performance of PI-type fuzzy logic controllers,” IEEE Trans. Fuzzy Systems, Vol. 1, 1993, pp. 298-301.
Mudi R.K., Pal N.R., “A robust self tuning scheme for PI- and PD-type fuzzy controllers,” IEEE Trans. Fuzzy systems, Vol.7, 1999, pp. 2-16.
Bekit B.W., Seneviratne L.D., Whidborne J.F., Althoefer K., “Fuzzy PID tuning for robot manipulators,” Annual Conf. of the IEEE Industrial Electronics Soc., 1998, pp. 2452-2457.
K.S. Fu, Gonzales R.C., Lee C.S.G., Robotics: Control, Sensing, Vision and Intelligence, Mcgraw-Hill, 1987.
Gonzalez-Lopez M.J., Recio T., “The ROMIN inverse geometric model and the dynamic evaluation method,” A.M. Cohen, Ed., Computer Algebra for Industry: Problem Solving in Practice, J. Wiley and Sons, 1993, pp. 117-141.
Wallen, J., “On robot modeling using Maple,” Technical Report LiTH-ISY-R-2723, Linköping university, Sweden, 2006.
La Meres B.J., “Design and implementation of a fuzzy logic based voltage controller for voltage regulation of a synchronous generator,” B.S. Thesis, Montana State University, Bozeman, MT, 1998.
Necsulescu D., Mechatronics, Prentice Hall, 2000.
Jebelli A., Ruzairi A.R., “Intelligent exhaust fan controller system”, Progress in Process Tomography and Instrumentation System, Chapter 13, University Teknology Malaysia, 2011.
Panda D., Ramanarayanan V., “Fuzzy logic based control of switched reluctance motor”, Int. Conf. on Signal Processing Applications and Technology, 1998.
Jebelli A., “Intelligent Exhaust Fan Controller System,” University Technology Malaysia, 2009.
Wakami N., Araki S., Nomura H., “Recent applications of fuzzy logic to home appliances”, Int. Conf. IECON, 1993, pp. 155-160.
Wang L., Adaptive Fuzzy System and Control, Guofang Industrial Press, Changsha, China, 1995.
Mohsen Habibi Tehrani, Ala Eldin Abdallah Awouda, Rosbi Bin Mamat, Microcontroller-Based Fuzzy Logic Controller for a Small Autonomous Underwater Robot, (2010) International Review of Automatic Control (IREACO), 3. (1), pp. 60-65.
- There are currently no refbacks.
Please send any question about this web site to firstname.lastname@example.org
Copyright © 2005-2023 Praise Worthy Prize