DocumentCode
638695
Title
Fuzzy control of robotic arm implemented in PLC
Author
Tomas, Shejbal ; Michal, Kopcek ; Alena, Kopeekova
Author_Institution
Inst. of Appl. Inf., Slovak Univ. of Technol. in Bratislava, Trnava, Slovakia
fYear
2013
fDate
8-10 July 2013
Firstpage
45
Lastpage
49
Abstract
This article deals with a design of a fuzzy control system for robotic arm and its implementation to PLC. Fuzzy logic is used to calculate the proper speed of robot tool center point depending on the tilt of the joystick handle in manual operating mode. In fully automatic mode the fuzzy logic is used in form of a fuzzy PI controller to achieve the desired velocity with the load compensation. Fuzzy system was designed in the Siemes Fuzzy Control ++ and was implemented to Simatic S7-300 PLC.
Keywords
PI control; compensation; control system synthesis; dexterous manipulators; fuzzy control; interactive devices; programmable controllers; Siemes Fuzzy Control ++; Simatic S7-300 PLC; automatic mode; fuzzy PI controller; fuzzy control system design; joystick handle; load compensation; robot tool center point calculation; robotic arm; Control systems; Fuzzy control; Fuzzy logic; Joints; Robots; Voltage control;
fLanguage
English
Publisher
ieee
Conference_Titel
Computational Cybernetics (ICCC), 2013 IEEE 9th International Conference on
Conference_Location
Tihany
Print_ISBN
978-1-4799-0060-2
Type
conf
DOI
10.1109/ICCCyb.2013.6617628
Filename
6617628
Link To Document