scholarly journals Design a Fuzzy Logic Controller for a Rotary Flexible Joint Robotic Arm

2018 ◽  
Vol 150 ◽  
pp. 01011 ◽  
Author(s):  
Jamaludin Jalani ◽  
Suman Jayaraman
Keyword(s):  
Fuzzy Logic ◽  
Fuzzy Logic Controller ◽  
Feedback Controller ◽  
Robotic Arm ◽  
Flexible Joint ◽  
Simulation And Experiment

The purpose of this research is to design a fuzzy logic feedback controller (FLC) in order to control a desired tip angle position a rotary flexible joint robotic arm. The FLC is also employed to dampen the vibration emanated from a rotary flexible joint robotic arm when reaching a desired tip angle position. The performance of FLC is tested in simulation and experiment. It is found that the FLC is successfully designed, applied and tested. The results show that fuzzy logic controller performed satisfactorily control a desired tip angle position and reduce the oscillations.

Active Control of Thermally Induced Vibrations in Smart Structure Instrumented with Piezoelectric Materials

2014 ◽  
Vol 612 ◽  
pp. 169-174 ◽  
Author(s):  
Anshul Sharma ◽  
C.K. Susheel ◽  
Rajeev Kumar ◽  
V.S. Chauhan
Keyword(s):  
Finite Element ◽  
Fuzzy Logic ◽  
Negative Feedback ◽  
Fuzzy Logic Controller ◽  
Coupling Effect ◽  
Shear Deformation Theory ◽  
Smart Structure ◽  
Feedback Controller ◽  
Mechanical Coupling ◽  
Degenerated Shell Element

In this paper, a finite element model of piezolaminated composite shell structure is developed using nine-noded degenerated shell element. The stiffness, mass and thermo-electro-mechanical coupling effect is incorporated in finite element modeling using first order shear deformation theory and linear piezoelectric theory. The sensor voltage is calculated using the same formulation and fuzzy logic controller is used to calculate the actuator voltage. The fuzzy logic controller is designed as double input-single output (DISO) system using 49 If-Then rules. The performance of fuzzy logic controller is compared with convention constant-gain negative feedback controller. The simulation results illustrate the superiority of fuzzy logic controller over constant-gain negative feedback controller.

Fuzzy Logic Controller Design of a Single Stage Fluid Valve Based Robotic Arm

2021 ◽  
Author(s):  
Akin Tatoglu ◽  
Claudio Campana ◽  
James Nolan ◽  
Gary Toloczko
Keyword(s):  
Fuzzy Logic ◽  
Fuzzy Logic Controller ◽  
Controller Design ◽  
Single Stage ◽  
Robotic Arm

Varying the Stiffness of a Beam-Like Neutralizer Under Fuzzy Logic Control

2001 ◽  
Vol 124 (1) ◽  
pp. 90-99 ◽  
Author(s):  
M. R. F. Kidner ◽  
M. J. Brennan
Keyword(s):  
Fuzzy Logic ◽  
Fuzzy Logic Controller ◽  
Excitation Frequency ◽  
Rate Of Change ◽  
Single Frequency ◽  
Logic Control ◽  
Excitation Period ◽  
Simulation And Experiment ◽  
Proportional Controller ◽  
Second Period

Vibration neutralizers are effective vibration control devices at a single frequency. If they can compensate for drift in the excitation frequency by adjusting their stiffness the performance can be improved, and the range of problems to which they can be applied is broadened. This paper considers a beam-like adaptive vibration neutralizer, and it is shown that the stiffness of the device and hence its natural frequency can be significantly altered by varying the beam cross-section. Several different beam configurations are investigated and the rate of change of stiffness as a function of beam separation is calculated for each configuration. The results are validated by some simple experiments. Real-time stiffness control of a beam-like tuneable neutralizer is also demonstrated both by computer simulation and experiment. The neutralizer is subjected to swept sine excitation over a six-second period and the tuned condition is maintained throughout the excitation period. The efficacy of using a nonlinear fuzzy logic controller is compared with the use of a simple proportional controller.

Investigation on the phase-based fuzzy logic controller for magnetorheological elastomer vibration absorber

2016 ◽  
Vol 28 (6) ◽  
pp. 728-739 ◽  
Author(s):  
Guojiang Liao ◽  
Yangguang Xu ◽  
Fayuan Wei ◽  
Renwei Ge ◽  
Qiang Wan
Keyword(s):  
Fuzzy Logic ◽  
Control Strategy ◽  
Fuzzy Logic Controller ◽  
Excitation Frequency ◽  
Vibration Absorber ◽  
Primary System ◽  
Magnetorheological Elastomer ◽  
Magnetic Current ◽  
Simulation And Experiment ◽  
Stiffness Control

This article presents a phase-based fuzzy logic controller for magnetorheological elastomer vibration absorber to trace the excitation frequency rapidly. The phase difference between the relative acceleration of the vibration absorber mass and the absolute acceleration of the primary system is used as the input signal of the fuzzy logic controller to calculate the desired magnetic current. Compared with the traditional stiffness control strategy, the proposed controller does not rely on the accurate relationship between the magnetic current and the resonant frequency of the magnetorheological elastomer vibration absorber. Simulation and experiment results demonstrate that the proposed stiffness controller is efficient to make the magnetorheological elastomer vibration absorber trace the excitation frequency rapidly. When the excitation frequency varies, the magnetorheological elastomer vibration absorber can be tuned properly within several seconds.

POINT-TO-POINT (PTP) CONTROL PERFORMANCES OF AN UPPER LIMB ROBOTIC ARM

2016 ◽  
Vol 78 (7) ◽  
Author(s):  
Mariam Md Ghazaly ◽  
Ting Huan Teo ◽  
Vivek A/L Regeev ◽  
Kartikesu A/L Vijayan ◽  
Chong Shin Hong ◽  
...  
Keyword(s):  
Fuzzy Logic ◽  
Steady State ◽  
Upper Limb ◽  
Pid Controller ◽  
Fuzzy Logic Controller ◽  
Settling Time ◽  
Robotic Arm ◽  
Point To Point ◽  
Precision Motion ◽  
State Error

The objective of this paper is to design a controller which is able to control the output angle for an upper limb of a robotic arm, for precision motion and high speed response.  The aim is to optimize the best controller for an upper limb robotic arm system for precision motion, in which improper motion will results in injuries/ fatality and loss of production in manufacturing system. In this research, a robotic arm prototype with a 1 degree-of-freedom (DOF) was designed and fabricated, in which the DC geared motor was implemented.  Studies are carried out based on previous research to investigate the suitable type of controller. PID controller and fuzzy logic controller are chosen and compared in terms of their performances such as the steady-state error, settling time, rise time and overshoot. The equipment’s used are Micro-Box 2000/2000C, Cytron DC geared motor, motor driver circuit. Micro-Box module acts as the interface between hardware component and MATLAB R2009a. Open-loop simulations are carried out to obtain the transfer function of the motor and substituted into the system for further simulation analysis. Simulation for the uncompensated system is carried out to observe the close-loop system characteristic without the controller. After that, the close-loop point-to-point (PTP) trajectory control for simulations & experiments are carried out for the compensated systems using PID controller based on the Ziegler-Nichols frequency response method. Analyses are made based on the results obtained and the best type of controller is chosen for achieving precise motion control for the upper limb robotic arm. In this paper, the PID controller shows better performances compared to the Fuzzy Logic controller (FLC) with the steady state error of less than 0.010 and settling time of 0.5s; for the input reference of 150  respectively. 

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