PI-type Fuzzy Logic Control of a Dual Arm Robot
نویسندگان
چکیده
In this study, as an application of robotics in hazardous tasks, a dual arm cooperative robot system is considered. The robot system is consisting of two planar arms; each of them has two degrees of freedom. The robot arms are in a task which requires handling and transporting a load in horizontal plane from its initial position to desired location with reliability. Dynamic equations of the physical model of two-arm planar robot are derived and then a PItype fuzzy logic controller is applied to have the model maintain a desired trajectory of motion. Numerical results show promising performance such that proposed PI-type fuzzy logic controller can be used for the trajectory tracking of dual arm robots during load transportation tasks safely. Key-Words: Dual arm robot, PI-type Fuzzy logic controller
منابع مشابه
A New Type-2 Fuzzy Systems for Flexible-Joint Robot Arm Control
In this paper an adaptive neuro fuzzy inference system based on interval Gaussian type-2 fuzzy sets in the antecedent part and Gaussian type-1 fuzzy sets as coefficients of linear combination of input variables in the consequent part is presented. The capability of the proposed method (we named ANFIS2) to function approximation and dynamical system identification is shown. The ANFIS2 structure ...
متن کاملVariable Impedance Control for Rehabilitation Robot using Interval Type-2 Fuzzy Logic
In this study, a novel variable impedance control for a lower-limb rehabilitation robotic system using voltage control strategy is presented. The majority of existing control approaches are based on control torque strategy, which require the knowledge of robot dynamics as well as dynamic of patients. This requires the controller to overcome complex problems such as uncertainties and nonlinearit...
متن کاملOptimal intelligent control for glucose regulation
This paper introduces a novel control methodology based on fuzzy controller for a glucose-insulin regulatory system of type I diabetes patient. First, in order to incorporate knowledge about patient treatment, a fuzzy logic controller is employed for regulating the gains of the basis Proportional-Integral (PI) as a self-tuning controller. Then, to overcome the key drawback of fuzzy logic contro...
متن کاملAdaptive Inverse Control of Flexible Link Robot Using ANFIS Based on Type-2 Fuzzy
This paper presents a novel adaptive neuro-fuzzy inference system based on interval Gaussian type-2 fuzzy sets in the antecedent part and Gaussian type-1 fuzzy sets as coefficients of linear combination of input variables in the consequent part. The capability of the proposed ANFIS2 for function approximation and dynamical system identification is remarkable. The structure of ANFIS2 is very sim...
متن کاملIndirect Adaptive Interval Type-2 Fuzzy PI Sliding Mode Control for a Class of Uncertain Nonlinear Systems
Controller design remains an elusive and challenging problem foruncertain nonlinear dynamics. Interval type-2 fuzzy logic systems (IT2FLS) incomparison with type-1 fuzzy logic systems claim to effectively handle systemuncertainties especially in the presence of disturbances and noises, but lack aformal mechanism to guarantee performance. In contrast, adaptive sliding modecontrol (ASMC) provides...
متن کامل