Fuzzy Rule Formulation Algorithm for Fuzzy Logic-Based 6-DOF Robot Arm Controller

抄録

A fuzzy logic-based controller with fuzzy rule formulation algorithm on software and actual control for a 6-DOF robotic arm was implemented. A robotic arm with 4-DOF attached a 2-DOF gripper serves as the testing platform. The actual robotic arm was characterized and the parameters are used for the simulator to mimic actual response. The fuzzy logic controller is then implemented to the simulated robotic arm and was then implemented to the actual robotic arm to control its movement. The new features are as follows: (1) Implementation of simulated weight and frictional effects of dynamic robot arm movement, (2) formulation and justification of reduced fuzzy rules for control and (3) addition of a path-partitioning algorithm to further enhance the dynamic movement of the robotic arm.