Application of fuzzy logic to robotic control

Author

Vashisth, Hammond ; Woo, Peng-Yung

Author_Institution

Dept. of Electr. Eng., Northern Illinois Univ., DeKalb, IL, USA

Volume

3

fYear

1996

fDate

5-10 Aug 1996

Firstpage

1867

Abstract

This paper describes how fuzzy logic can be applied to robotic control using software tools on personal computers. First, the fundamentals of fuzzy logic and robotics are discussed. Second, fuzzy controller designs for a two-link manipulator and for robot PUMA 560 (the last three links locked) are proposed. C language code is developed to simulate the controller designs. Fuzzy Inference Development Environment (FIDE) software from Aptronix, Inc. is used for development of fuzzy if-then rules. The contribution of this paper is the exploration of nonconventional methods for control of highly nonlinear systems

Keywords

control system CAD; control system analysis computing; fuzzy control; manipulators; microcomputer applications; nonlinear control systems; software tools; C language code; Fuzzy Inference Development Environment software; PUMA 560 robot; computer simulation; control CAD; control design; control simulation; fuzzy if-then rules; fuzzy logic; highly nonlinear systems; personal computers; robotic control; software tools; two-link manipulator; Application software; Computational modeling; Control systems; Fuzzy control; Fuzzy logic; Manipulators; Microcomputers; Nonlinear control systems; Robot control; Software tools;

fLanguage

English

Publisher

ieee

Conference_Titel

Industrial Electronics, Control, and Instrumentation, 1996., Proceedings of the 1996 IEEE IECON 22nd International Conference on

Conference_Location

Taipei

Print_ISBN

0-7803-2775-6

Type

conf

DOI

10.1109/IECON.1996.570757

Filename

570757