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
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;
Conference_Titel :
Computational Cybernetics (ICCC), 2013 IEEE 9th International Conference on
Conference_Location :
Tihany
Print_ISBN :
978-1-4799-0060-2
DOI :
10.1109/ICCCyb.2013.6617628
