Fuzzy Logic Hardware Implementation for Pneumatic Control of One DOF Pneumatic Robot

被引：0

作者：

Ramos-Arreguin, Juan-Manuel ^{[1
]}

Guillen-Garcia, Emmanuel ^{[1
]}

Canchola-Magdaleno, Sandra ^{[1
]}

Pedraza-Ortega, Jesus-Carlos ^{[1
]}

Gorrostieta-Hurtado, Efren ^{[1
]}

Aceves-Fernandez, Marco-Antonio ^{[1
]}

Ramos-Arreguin, Carlos-Alberto ^{[1
]}

机构：

[1] Univ Autonoma Queretaro, Fac Informat, Delegacion Santa Rosa Ja 76230, Queretaro, Mexico

来源：

ADVANCES IN SOFT COMPUTING - MICAI 2010, PT II | 2010年 / 6438卷

关键词：

FPGA; Hardware; Fuzzy Logic; pneumatic; Robot;

D O I：

暂无

中图分类号：

TP18 [人工智能理论];

学科分类号：

081104 ; 0812 ; 0835 ; 1405 ;

摘要：

The pneumatic actuators can be a useful way to control the position of a manipulator robot, instead of an electrical actuator. The major problem with pneumatic actuators is the compressibility of the air, due to the fact that the mathematical model is a system formed by a set of highly non-linear equations then a simple PID control is not enough to control the robot position, and fuzzy logic is a good option. This work is focused on the hardware implementation of Fuzzy logic algorithm into FPGA system. This paper also presents a methodology to implement a pneumatic control using fuzzy logic, into a FPGA device, which is the main contribution of this work. The air flow is controlled with a pulse width modulation, applied to the pneumatic electro-valve, with 25 ms of period.

引用

页码：500 / 511

页数：12

共 50 条

[41] A fuzzy logic controller for the positioning control of an electro-pneumatic servo-drive
Takosoglu, Jakub E.
Laski, Pawel A.
Blasiak, Slawomir
[J]. PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART I-JOURNAL OF SYSTEMS AND CONTROL ENGINEERING, 2012, 226 (I10) : 1335 - 1343
[42] Control of a six-axis pneumatic robot
Mattiazzo, G
Mauro, S
Raparelli, T
Velardocchia, M
[J]. JOURNAL OF ROBOTIC SYSTEMS, 2002, 19 (08): : 363 - 378
[43] Control of artificial pneumatic muscle for robot application
Choi, Tae-Yong
Lee, Joon-Yong
Lee, Ju-Jang
[J]. 2006 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-12, 2006, : 4896 - +
[44] Sensory Reflex Control for a Pneumatic Biped Robot
Fu, Chenglong
Liu, Shuntao
Wang, Jianmei
Chen, Ken
[J]. 2014 IEEE 4TH ANNUAL INTERNATIONAL CONFERENCE ON CYBER TECHNOLOGY IN AUTOMATION, CONTROL, AND INTELLIGENT SYSTEMS (CYBER), 2014, : 401 - 406
[45] Simulation of a Two DOF Pneumatic Manipulator Robot using Control based on Back Propagation Neural Network
Sanchez-Solar, Sergio-Daniel
Rivas-Araiza, Edgar-Alejandro
Gorrostieta-Hurtado, Efren
Ramos-Arreguin, Juan-Manuel
[J]. 2017 INTERNATIONAL CONFERENCE ON ELECTRONICS, COMMUNICATIONS AND COMPUTERS (CONIELECOMP), 2017,
[46] A Fuzzy Logic Controller tuned with PSO for 2 DOF robot trajectory control
Bingul, Zafer
Karahan, Oguzhan
[J]. EXPERT SYSTEMS WITH APPLICATIONS, 2011, 38 (01) : 1017 - 1031
[47] Dynamics Modeling and Control of Humanoid Robot Arm with 7DOF Actuated by Pneumatic Artificial Muscles
Pei Mengyao
Gong Daoxiong
[J]. PROCEEDINGS OF THE 33RD CHINESE CONTROL AND DECISION CONFERENCE (CCDC 2021), 2021, : 3050 - 3055
[48] Development and Control of a Pneumatic-Actuator 3-DOF Translational Parallel Manipulator with Robot Vision
Lee, Lian-Wang
Chiang, Hsin-Han
Li, I-Hsum
[J]. SENSORS, 2019, 19 (06)
[49] Control of a pneumatic gantry robot for grinding: A neuro-fuzzy approach to PID tuning
Samhouri, M
Raoufi, A
Surgenor, B
[J]. 2005 IEEE INTERNATIONAL CONFERENCE ON CONTROL APPLICATIONS (CCA), VOLS 1AND 2, 2005, : 452 - 458
[50] Design, Implementation and Control of an Improved Hybrid Pneumatic-Electric Actuator for Robot Arms
Rouzbeh, Behrad
Bone, Gary M.
Ashby, Graham
Li, Eugene
[J]. IEEE ACCESS, 2019, 7 : 14699 - 14713

← 1 2 3 4 5 →