PI-type fuzzy logic control of a dual arm robot

Hacioglu Y., Arslan Y. Z., Akan A., Yagiz N.

9th WSEAS International Conference on Automatic Control, Modeling and Simulation, İstanbul, Türkiye, 27 - 29 Mayıs 2007, ss.42-43 identifier identifier

  • Yayın Türü: Bildiri / Tam Metin Bildiri
  • Cilt numarası:
  • Basıldığı Şehir: İstanbul
  • Basıldığı Ülke: Türkiye
  • Sayfa Sayıları: ss.42-43
  • İstanbul Üniversitesi Adresli: Evet

Özet

In this study, as an application of robotics in hazardous tasks, a dual arm cooperative robot system is considered. The robot system is consisting of two planar arms; each of them has two degrees of freedom. The robot arms are in a task which requires handling and transporting a load in horizontal plane from its initial position to desired location with reliability. Dynamic equations of the physical model of two-arm planar robot are derived and then a PI-type fuzzy logic controller is applied to have the model maintain a desired trajectory of motion. Numerical results show promising performance such that proposed PI-type fuzzy logic controller can be used for the trajectory tracking of dual arm robots during load transportation tasks safely.