Control of Two-link 2-DOF Robot Manipulator Using Fuzzy Logic Techniques: A Review

Lochan, Kshetrimayum; Roy, Binoy Krishna

doi:10.1007/978-81-322-2217-0_41

Cited by 41 publications

(28 citation statements)

References 45 publications

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“…Each link is restrained by its own weight and supported by a reaction torque and force of the front link. We can describe the dynamic model of a serial-link manipulator in matrix form in (1).…”

Section: B Dynamic Model Of Our-1 Modular Manipulatormentioning

confidence: 99%

“…When the manipulator moves in its workspace, the control method can generate τ according to the dynamic model in (1) to control all joints to follow the planned trajectory. From the dynamic model in (1), we can see that G(q) is influenced by the position of the manipulator.…”

Section: B Dynamic Model Of Our-1 Modular Manipulatormentioning

confidence: 99%

“…I NDUSTRIAL manipulators were first applied to hazardous environment in the 1950s to replace human [1].At present, manipulators are widely used in factories and become more cooperative with human in many aspects such as automated assembly lines, aerospace engineering, surgery assistant, welding industry and so on [2]. When cooperating with human, manipulators is required not only to follow the planed trajectory accurately, but to ensure the human safety [3].…”

Section: Introductionmentioning

confidence: 99%

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Compliance control on 6-DOF robot modular manipulator with fuzzy methodology

Wei

Yang

et al. 2016

2016 12th World Congress on Intelligent Control and Automation (WCICA)

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Manipulators are now widely used in many aspects and many of them are cooperative with human. This requires higher security performance to manipulators. The compliance control to the manipulator seems difficult because of features of actuators, mechanical inertia, the coupling forces and the requirement of smooth and accurate control. We presented a compliance control method based on fuzzy methodology to guarantee the compliance of the manipulator. We designed a fuzzy controller to decrease the forces when the manipulator is stuck to ensure safety. We combined the fuzzy controller with the dynamic model of the manipulator to form a new mathematics model. This model is consist of three parts: the compensation of the Coriolis and centripetal force and gravity, proportional control and the feedback of the fuzzy controller. Simulation results on a 6-DOF manipulator, OUR-1, show this compliance controller we designed can guarantee the compliance and ensure safety when cooperating with human.

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Section: B Dynamic Model Of Our-1 Modular Manipulatormentioning

confidence: 99%

Section: B Dynamic Model Of Our-1 Modular Manipulatormentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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Compliance control on 6-DOF robot modular manipulator with fuzzy methodology

Wei

Yang

et al. 2016

2016 12th World Congress on Intelligent Control and Automation (WCICA)

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“…The control methodology takes essential role in controlling the exoskeleton. The exoskeleton is to follow the human movement all the time, which makes the exoskeleton system more complex [8], [20], [21]. It is evident from reviewing the previous work, that the main issue of elderly mobility is body weight, so support should be provided by the exoskeleton system to the user all the time.…”

Section: Fuzzy Logic Controlmentioning

confidence: 99%

Invasive weed optimization algorithm optimized fuzzy logic scaling parameters in controlling a lower limb exoskeleton

Rezage

Kasdirin

Ali

et al. 2016

2016 21st International Conference on Methods and Models in Automation and Robotics (MMAR)

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This paper describes a new modified versions of invasive weed optimization algorithm with exponential seedsspread factor. The modified invasive weed optimization algorithm (MIWO) is employed to optimize the fuzzy input-output scaling factors of lower limb exoskeleton. A fuzzy logic control (FLC) system with the (MIWO) are evolved for reference tracking control. The exoskeleton is developed to enhance and upgrade the lower limb capability and augment the torque of knee and hip of elderly people during the walking cycle. Invasive weed optimization is a bio-inspired search algorithm that mimics how weeds colonize a certain area in nature. The algorithm is modified by applying local knowledge during distribution of seeds that depends on their cost function value in each generation to narrow the accuracy and improve the local search ability. The obtained results from the modified invasive weed optimization algorithm are compared with heuristic gain values to improve the performance of the exoskeleton system. The Visual Nastran 4D software is used to develop a simulation model of the humanoid and an exoskeleton for testing and verification of the developed control mechanism. Simulation results demonstrating the performance of the adopted approach are presented and discussed.

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“…Bulanık mantık tabanlı kontrol algoritmalarının tercih edildiği bir çalışma da, bulanık mantık tabanlı genelleştirilmiş kestirim kontrol yapısı robot kolu için uygulanmıştır [11]. Benzer bir araştırma da, bulanık mantık kontrol yapısı 2 serbestlik dereceli robot kolu için tasarlanırken, bu yapı için gerçekleştirilen kayma mod kontrol ve PID kontrol yapıları hakkında araştırmalar yapılarak karşılaştırmalı bir makale sunulmuştur [12]. Bulanık mantık kontrolün yanı sıra, adaptif yapay sinir ağları tabanlı kontrol kullanılarak insansı robot kontrolü [13], dayanıklı kontrolör tasarımı için bulanık mantık kayma mod kontrol tekniğinin uygulanması [14], yapay sinir ağları tabanlı genetik algoritma ile robot kollarının ters kinematiği ile hata minimizasyonu yapılması [15] gibi çalışmalar bu alanda gerçekleştirilen araştırmalardan sadece birkaçıdır.…”

Section: Gi̇ri̇ş (Introduction)unclassified

3 Serbestlik Dereceli Bir Robot Kolun Bulanık Mantık ve PID ile Kontrolü

Kayışlı

Ugur²

2017

Gazi Üniversitesi Fen Bilimleri Dergisi Part C: Tasarım Ve Teknoloji

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ÖzGünümüzde robot kolları birçok endüstriyel uygulamada yaygın olarak kullanılmaktadır. Bu noktada, sağlık gibi alanlarda kullanılan robotlarda ise yüksek hassasiyetli kontrol işlemlerine ihtiyaç duyulmaktadır. Bu yüzden robota uygulanan kontrol yöntemi de önem arz etmektedir. Bu çalışmada ise üç serbestlik dereceli bir robotun uç işlevcisine değişken kuvvet uygulanmış ve dayanıklılığı test edilmiştir. Bu işlem için PID kontrol ve bulanık mantık kontrol yöntemi kullanılmıştır. Benzetim ortamında tasarımı ve simülasyonu gerçekleştirilen robot kolunun bulanık mantık ve klasik PID ile kontrolü sağlanmış, sonuçlar karşılaştırmalı olarak sunulmuştur. Fuzzy Logic and PID control of a 3 DOF Robotic Arm AbstractNowadays, the robotic arms are used in many industrial applications. At this point, high precision control is required for robotics used in fields such as healthcare area. Therefore, the control method applied to robots is also important. In this study, a force was applied to the end function of a three degree-of-freedom robot and the robustness of the controllers are tested. PID and Fuzzy Logic control method are used for this process. The control process of robotic arm which is designed and simulated is obtained by using Fuzzy Logic and classical PID controllers and the results are presented comparatively.

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Control of Two-link 2-DOF Robot Manipulator Using Fuzzy Logic Techniques: A Review

Cited by 41 publications

References 45 publications

Compliance control on 6-DOF robot modular manipulator with fuzzy methodology

Compliance control on 6-DOF robot modular manipulator with fuzzy methodology

Invasive weed optimization algorithm optimized fuzzy logic scaling parameters in controlling a lower limb exoskeleton

3 Serbestlik Dereceli Bir Robot Kolun Bulanık Mantık ve PID ile Kontrolü

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