Fuzzy Control System for Robot Using Proprioceptive Algorithms

The proposal of this work is to develop hardware and algorithms completely integrated with the sensorial systems of robots. The intention is adjust its movements in sensorial environments. In this context, the algorithms are called Artificial Proprioceptive Systems (APS), where these algorithms detail how to configure controllers for to provide the movement of robot-arm.This work initially introduces some concepts of control and intelligent controllers, approach an introduction on sensors and its more varied types and finally he considers a diagram to integrate the systems of movements that are used in robots. A considered experiment is the simulation of imperfections in joints of robots and to use the Artificial Proprioceptive Algorithms, to identify the imperfection and to provide a modification in the action of control to compensate this effect and guarantee that the system continues functioning normally.