Self-tuning Fuzzy Task Space Controller for Puma 560 Robot

Abstract

Since in most robot applications the desired paths are determined in task space or Cartesian space, it is important to control the robot arm in task space. In this paper a fuzzy controller with modifiable scaling factors is proposed to control the robot end-effector in task space. The controller is a fuzzy system with a mechanism to change the scaling factors when the error is bounded under a predetermined value. The controller is designed in joint space and is developed to work space by using inverse Jacobian strategy. The simulations results on Puma 560 robot manipulator illustrate the high performance of presented control method.

Automation of the design of the cross-section of the manipulator arms profile

“…of the designed arm by force F (N), bending moment Tb (Nmm) and continuous load q (N/mm). The magnitude of the moment M(x) (Nmm) at the point of entanglement, based on which it is possible to determine the angle of rotation and deflection at the endpoint of the bending line of the beam, can then be calculated using (3).…”

“…Scientific teams around the world are involved in the development of both complete robotic devices and their subsystems. From the point of view of industrial robotics, attention is currently paid mainly to the field of control, as described, for example, in the articles [1]- [3]. However, the possibility of using optimization algorithms in designing kinematic structures of industrial robots and manipulators, as described in the articles, also comes to the fore [4]- [6].…”

Automation of the Design of the Cross-Section of the Manipulator Arms Profile

“…Scientific teams around the world are involved in the development of both complete robotic devices and their subsystems. From the point of view of industrial robotics, attention is currently paid mainly to the field of control, as described, for example, in the articles [Azarfar 2018, Castillo-Garcia 2017, Prathab 2017]. However, the possibility of using optimization algorithms in designing kinematic structures of industrial robots and manipulators, as described in the articles, also comes to the fore [Ha 2018, Kumar 2017, Whitman 2019.…”