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Industrial Robotics Theory Modelling and Control Part 8

Tham khảo tài liệu 'industrial robotics theory modelling and control part 8', kỹ thuật - công nghệ, cơ khí - chế tạo máy phục vụ nhu cầu học tập, nghiên cứu và làm việc hiệu quả | 15 Design and Implementation of Fuzzy Control for Industrial Robot Muhammad Suzuri Hitam 1. Introduction The dynamic equations of motion for a mechanical manipulator are highly non-linear and complex. It is therefore very difficult to implement real-time control based on a detailed dynamic model of a robot if not impossible Luh et al. 1980 Lee et al. 1982 . The control problem becomes more difficult if adaptive control is necessary to accommodate changing operational conditions. Such a requirement frequently exits in the manufacturing environment therefore an alternative design approach would be attractive to the industrial practitioner. A better solution to the complex control problem might result if human intelligence and judgement replaces the design approach of finding an approximation to the true process model. A practical alternative would be the use of fuzzy logic. It has been reported that fuzzy logic controllers performed better or at least as good as a conventional controller and can be employed where conventional control techniques are inappropriate Li et al. 1989 Sugeno 1985 Ying et al. 1990 . In contrast to adaptive control fuzzy logic algorithms do not require a detailed mathematical description of the process to be controlled and therefore the implementation of fuzzy logic should theoretically be less demanding computationally. Fuzzy logic algorithms can be designed for environments where the available source information is not accurate subjective and of uncertain quality. Furthermore these algorithms provide a direct means of translating qualitative and imprecise linguistic statements on control procedures into precise computer statements. In this chapter a proposed fuzzy logic design to control an actual industrial robot arm is outlined. The description of fuzzy logic controller is described in Section 2. It includes the methodology for the design of a fuzzy logic controller for use in robotic application. Section 3 presents the robot control .