Fuzzy Logic Based Path Planning for Industrial Robot

2020 ◽  
pp. 355-364
Author(s):  
Supriya Sahu ◽  
Bibhuti Bhusan Choudhury

This article describes how industrial robots are generally used to perform different tasks in industries, such as pick and place, and many more operations in industries. Among these, pick and place is a very common and frequently used task. Path planning is the most important thing in order to make any process more economical. The main focus of the research is to design a fuzzy control system for path planning for industrial robots using artificial intelligence using fuzzy logic. For the analysis, ten different tasks are tested. For fuzzy logic systems, three membership functions are analyzed and compared to find the best result. From the research, it has been found that a Gaussian membership function gives more accurate result in comparison to the other two membership functions.

Author(s):  
Supriya Sahu ◽  
Bibhuti Bhusan Choudhury

This article describes how industrial robots are generally used to perform different tasks in industries, such as pick and place, and many more operations in industries. Among these, pick and place is a very common and frequently used task. Path planning is the most important thing in order to make any process more economical. The main focus of the research is to design a fuzzy control system for path planning for industrial robots using artificial intelligence using fuzzy logic. For the analysis, ten different tasks are tested. For fuzzy logic systems, three membership functions are analyzed and compared to find the best result. From the research, it has been found that a Gaussian membership function gives more accurate result in comparison to the other two membership functions.


Author(s):  
Renato Morales-Nava ◽  
Víctor Manuel Zamudio-Rodriguez ◽  
Francisco Javier Navarro-Barrón ◽  
David Asael Gutierrez-Hernandez ◽  
María del Rosario Baltazar-Flores ◽  
...  

Fuzzy logic systems provide a set of proven tools and methods to imitate or emulate human basic reasoning, that is, transform it into instructions that the computer can understand or transform into binary instructions. Based on the structure with multiple layers, subsystems and varied topologies that in previous research have shown that fuzzy hierarchical systems have been used to improve the interpretability, in this research work the objective is to design a fuzzy hierarchical system using fuzzy composite concepts artificial intelligence compounds to measure the efficiency of simulated scenarios. As a fundamental part of the present investigation, an analysis is made of the sensitivity of the results of the fuzzy system with respect to its inputs and with a set of membership functions, in a virtual scenario; which allows demonstrating the advantages obtained by applying a fuzzy hierarchical system to systems oriented to the area of health.


2021 ◽  
Vol 21 (2) ◽  
pp. 1-22
Author(s):  
Chen Zhang ◽  
Zhuo Tang ◽  
Kenli Li ◽  
Jianzhong Yang ◽  
Li Yang

Installing a six-dimensional force/torque sensor on an industrial arm for force feedback is a common robotic force control strategy. However, because of the high price of force/torque sensors and the closedness of an industrial robot control system, this method is not convenient for industrial mass production applications. Various types of data generated by industrial robots during the polishing process can be saved, transmitted, and applied, benefiting from the growth of the industrial internet of things (IIoT). Therefore, we propose a constant force control system that combines an industrial robot control system and industrial robot offline programming software for a polishing robot based on IIoT time series data. The system mainly consists of four parts, which can achieve constant force polishing of industrial robots in mass production. (1) Data collection module. Install a six-dimensional force/torque sensor at a manipulator and collect the robot data (current series data, etc.) and sensor data (force/torque series data). (2) Data analysis module. Establish a relationship model based on variant long short-term memory which we propose between current time series data of the polishing manipulator and data of the force sensor. (3) Data prediction module. A large number of sensorless polishing robots of the same type can utilize that model to predict force time series. (4) Trajectory optimization module. The polishing trajectories can be adjusted according to the prediction sequences. The experiments verified that the relational model we proposed has an accurate prediction, small error, and a manipulator taking advantage of this method has a better polishing effect.


Author(s):  
Yang Chen ◽  
Jiaxiu Yang

In recent years, fuzzy identification based on system identification theory has become a hot academic topic. Interval type-2 fuzzy logic systems (IT2 FLSs) have become a rising technology. This paper designs a type of Nagar-Bardini (NB) structure-based singleton IT2 FLSs for fuzzy identification problems. The antecedents of primary membership functions of IT2 FLSs are chosen as Gaussian type-2 primary membership functions with uncertain standard deviations. Then, the back propagation algorithms are used to tune the parameters of IT2 FLSs according to the chain rule of derivation. Compared with the type-1 fuzzy logic systems, simulation studies show that the proposed IT2 FLSs can obtain better abilities of generalization for fuzzy identification problems.


2018 ◽  
Vol 1 (2) ◽  
Author(s):  
Amit K. Sinha 1 ◽  
Andrew J. Jacob 2

Expert systems, a type of artificial intelligence that replicate how experts think, can aide unskilled users in making decisions or apply an expert’s thought process to a sample much larger than could be examined by a human expert. In this paper, an expert system that ranks financial securities using fuzzy membership functions is developed and applied to form portfolios. Our results indicate that this approach to form stock portfolios can result in superior returns than the market as measured by the return on the S&P 500. These portfolios may also provide superior risk-adjusted returns when compared to the market.


2020 ◽  
Vol 10 (1) ◽  
Author(s):  
Mahboubeh Pishnamazi ◽  
Meisam Babanezhad ◽  
Ali Taghvaie Nakhjiri ◽  
Mashallah Rezakazemi ◽  
Azam Marjani ◽  
...  

Abstract In this study, a square cavity is modeled using Computational Fluid Dynamics (CFD) as well as artificial intelligence (AI) approach. In the square cavity, copper (Cu) nanoparticle is the nanofluid and the flow velocity characteristics in the x-direction and y-direction, and the fluid temperature inside the cavity at different times are considered as CFD outputs. CFD outputs have been assessed using one of the artificial intelligence algorithms, such as a combination of neural network and fuzzy logic (ANFIS). As in the ANFIS method, we have a non-dimension procedure in the learning step, and there is no issue in combining other characteristics of the flow and thermal distribution beside the x and y coordinates, we combine two coordinate parameters and one flow parameter. This ability of method can be considered as a meshless learning step that there is no instability of the numerical method or limitation of boundary conditions. The data were classified using the grid partition method and the MF (membership function) type was dsigmf (difference between two sigmoidal membership functions). By achieving the appropriate intelligence in the ANFIS method, output prediction was performed at the points of cavity which were not included in the learning process and were compared to the existing data (the results of the CFD method) and were validated by them. This new combination of CFD and the ANFIS method enables us to learn flow and temperature distribution throughout the domain thoroughly, and eventually predict the flow characteristics in short computational time. The results from AI in the ANFIS method were compared to the ant colony and fuzzy logic methods. The data from CFD results were inserted into the ant colony system for the training process, and we predicted the data in the fuzzy logic system. Then, we compare the data with the ANFIS method. The results indicate that the ANFIS method has a high potentiality compared to the ant colony method because the amount of R in the ANIFS system is higher than R in the ant colony method. In the ANFIS method, R is equal to 0.99, and in the ant colony method, R is equal to 0.91. This shows that the ant colony needs more time for both the prediction and training of the system. Also, comparing the pattern recognition in the two systems, we can obviously see that by using the ANFIS method, the predictions completely match the target points. But the other method cannot match the flow pattern and velocity distribution with the CFD method.


2015 ◽  
Vol 783 ◽  
pp. 105-113 ◽  
Author(s):  
Tadeusz Mikolajczyk

A special control system of IRb 60 industrial robots by using PC computer was shown in this work. Robots steering system equipped with the controller connected to computer’s LPT port was made and tested. This interface was connected to a manual control panel of the robot. The system was controlled by special VB 6.0 software. It is possible manual or automated control of robot move. Using this system was made other applications for many tasks of using an industrial robot equipped with tool and sensors in research and manufacturing.


2011 ◽  
Vol 464 ◽  
pp. 272-278 ◽  
Author(s):  
Wei You ◽  
Min Xiu Kong ◽  
Li Ning Sun ◽  
Chan Chan Guo

In this paper, aiming at solving the problems of dynamic coupling effects and flexibility of joints and links, a kind of control system specialized for high payload industrial robots is proposed . After the comparisons between the control systems in all kinds of robots and numerical machines, industrial PC with TwinCAT real-time system is chosen as the motion control unit, EtherCAT is used for command transmitting. The whole control system has a decoupled and centralized control structure. The proposed control system is applied in control of a kind of high payload material handling robots with complex compound control algorithms. The final results shows that the control commands can be easily calculated and transmitted in one sample unit. The proposed control scheme is meaningful to real engineering application.


Author(s):  
A. M. Romanov

A review of robotic systems is presented. The paper analyzes applied hardware and software solutions and summarizes the most common block diagrams of control systems. The analysis of approaches to control systems scaling, the use of intelligent control, achieving fault tolerance, reducing the weight and size of control system elements belonging to various classes of robotic systems is carried out. The goal of the review is finding common approaches used in various areas of robotics to build on their basis a uniform methodology for designing scalable intelligent control systems for robots with a given level of fault tolerance on a unified component base. This part is dedicated to industrial robotics. The following conclusions are made: scaling in industrial robotics is achieved through the use of the modular control systems and unification of main components; multiple industrial robot interaction is organized using centralized global planning or the use of previously simulated control programs, eliminating possible collisions in working area; intellectual technologies in industrial robotics are used primarily at the strategic level of the control system which is usually non-real time, and in some cases even implemented as a remote cloud service; from the point of view of ensuring fault tolerance, the industrial robots developers are primarily focused on the early prediction of faults and the planned decommissioning of the robots, and are not on highly-avaliability in case of failures; industrial robotics does not impose serious requirements on the dimensions and weight of the control devices.


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