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Real-time hybrid adaptive fuzzy control of a SCARA robot

Real-time hybrid adaptive fuzzy control of a SCARA robot,10.1016/S0141-9331(01)00127-2,Microprocessors and Microsystems,Meng Joo Er,Moo Teng Lim,Hui S

Real-time hybrid adaptive fuzzy control of a SCARA robot   (Citations: 7)
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This paper presents the design, development and implementation of a Hybrid Adaptive Fuzzy Controller (HAFC) suitable for real-time industrial applications. The developed HAFC consists of a weighted combination of the Direct Adaptive Fuzzy Controller (DAFC) and Indirect Adaptive Fuzzy Controller (IAFC) and a gradually activated supervisory controller. The unique feature of the HAFC is that no mathematical models of the plant are required and the proposed controller is able to adaptively estimate the bound functions on-line, which are required for the determination of the supervisory controller. The supervisor controller in the sense that all signals are bounded guarantees global stability of the closed-loop system. The approach of rapid prototyping is employed to implement the HAFC so as to control a Selectively Compliance Assembly Robot Arm (SCARA) Robot in real time. Simulink, an interactive graphical software for simulating dynamic systems, is used to model, simulate and analyse the dynamic system. Once encouraging system performances are achieved, the HAFC is implemented in real-time through Real-Time Workshop (RTW). RTW generates C-codes from the Simulink block diagrams and in turn, the generated codes (object codes) are downloaded to the Texas Instruments TMS320C31 floating-point processor, together with the supporting files, for execution. The performance of the HAFC was found to be superior and it matches favourably the simulation results.
Journal: Microprocessors and Microsystems , vol. 25, no. 8, pp. 369-378, 2001
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    • ...University of C-tin Brancusi str. Geneva nr.3, Tg-Jiu, Gorj...
    • ...Motion control is implemented only for axes Z, T1 and T2 in this work (see Fig. 2), which are designated as Joint 1, 2 and 3 respectively...
    • ...The dynamic model of the SCARA robot arm has been developed in [2], [3], with most of its parameters determined and verified through experiments...
    • ...Based on this known mathematical model of the robot, simulation analysis and design of the HFC (see Fig. 3) were carried out using MATLAB simulation tools...
    • ...Based on this known mathematical model of the robot, simulation analysis and design of the HFC (see Fig. 3) were carried out using MATLAB simulation tools. Fig. 3. Control structure of the...
    • ...HAFC. 2.3. Motion control A two-joint control structure is used in this work where the motion of the T1-axis and T2-axis will be controlled simultaneously...
    • ...The degree of difficulty will increase with the number of joints moving together. <{[SECTION]}>3 Problem Solution...
    • ...<{[SECTION]}>3 Problem Solution 3.1 Hybrid fuzzy controller...
    • ...adjustable parameters. Now adding and subtracting G(θ ) τ to Eq. (3) and after some manipulations, we obtain the closed-loop error equation due to the DFC which is given as:...
    • ...Fig. 4 Rapid prototyping process. 3.2 Simulation model of HFC...
    • ...Fig. 5 shows a Simulink diagram for simulating the HFC system for controlling Joint 2 (T1-axis) and Joint 3 (T2-axis) of the SCARA robot...
    • ...Simulink. 3.3 Simulation results To evaluate the performance of our HFC, a series of simulation runs were performed...
    • ...Simulink. 3.3 Simulation results To evaluate the performance of our HFC, a series of simulation runs were performed...
    • ...Fig. 5a depicts those of joint 3. Desired position trajectories are indicated in dashed lines and actual trajectories after incorporating the HFC are indicated in solid lines...
    • ...Figs. 6b and 7b show the position errors of joint 2 and joint 3 respectively...
    • ...The overall Simulink model for the HFC is shown in Fig. 6. Fig. 7.a. Position trajectory of joint 3...
    • ...Position trajectory of joint 3. Fig. 7.b. Position error of joint 3...
    • ...4.3 Tuning of GUI parameters and signal monitoring...
    • ...4.3.1. 'On-the-fly' parameters tuning...
    • ...If any of these changes are made, the program has to be rebuilt. 4.3.2. Signal monitoring...

    MARIUS-CONSTANTIN POPESCUet al. Simulation Hybrid Fuzzy Control of SCARA Robot

    • ...Bu çalışmada ele alınan SCARA-tipi robot, omuz ve dirsek eklemleri servo motorlarla kontrol edilen, üçüncü hareketi pnömatik olan deneysel bir robottur ve kartezyen koordinat sistemindeki şekli, Şekil-1’de gösterilmiştir [1, 11-20]...

    Serhan YAMAÇLIet al. BİR SCARA ROBOTUN PD VE ÖĞRENME DENETLEYİCİLER İLE PERFORMANSININ KARŞ...

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