A fuzzy logic based coordinated control strategy for a cabledriven clamming device

This paper presents design and experimental evaluation of a controller for the purpose of closed-loop coordinated control of a cable-driven clamming device. Currently, an experienced operator is required to continuously observe the tensions of the two cables that operate the device while coordinating their motions in real-time. We propose a control strategy to partially automate such an operation, therefore alleviating the mental burden on the operator. In the proposed control system, the operator simply uses a single-axis joystick to impart a desired speed to the clamming device while the controller handles corrections required to coordinate the motion of the cables. The proposed control strategy incorporates a novel fuzzy logic based integral-type controller built upon measurements of the load state and speed. It has been experimentally evaluated on a test rig that operates in a manner similar to the actual clamming device. The experiments, consisting of both simple and advanced case studies of specific segments of typical trash removal operations, demonstrate the feasibility and the promise of the technique