Application of fuzzy controller for a special triangle robot with two degrees of freedom

• Published in: IEEE Conference on Robotics, Automation and Mechatronics, 2004 Vol. 2; pp. 1168 - 1175 vol.2
• Main Authors: Khanmohammadi, S., Aghagolzadeh, A., Amjadi, M., Esmaeilzadeh, R., Ghanbari, A.
• Format: Conference Proceeding
• Language: English
• Published: IEEE 2004
• Subjects: Application software; Control systems; Electrical equipment industry; Equations; Filling; Fuzzy control; Fuzzy systems; Mathematical model; Service robots; Vehicle dynamics
• ISBN: 0780386450; 9780780386457
• DOI: 10.1109/RAMECH.2004.1438086

In this paper a new robot with two degrees of freedom is designed and the dynamic model of the system, based on precise mathematical equations, is determined. It is shown that this new triangle robot can be used in filling taking and sketching applications in industry. A simple controlling rule, based on fuzzy theory, is introduced for application in a robotic system. This robot can be used with different applications in the automobile industry. The laboratory sample that is designed in this work can be developed and used in different production lines, especially in hierarchical and hybrid systems as a pointer, dyer and filling taker robot. The computer based simulation results show that application of fuzzy rules for controlling this type of robot leads to better results than classical PID methods. The characteristics of the introduced robot are studied.