Design, Implementation and Optimal Control of a Series Robot Based on Fuzzy Logic Method

The series robot is a type of the mechanical arms with a function similar to human hands which is usually programmable. These robots, depending on the application, are designed in order to perform various operations such as clinch, welding, packaging, assembly and etc. One of the most important issues in the field of the series robots that has been highly regarded in the past few decades, is the path control. Various industries have urgent and serious need to know the optimal control of path. In this paper, the design and implementation of a series robot with two degrees of freedom and its fuzzy control is studied. This fuzzy controller, is an approach to optimal control of robot path. In these robots, finding the optimal path would be time consuming. This study uses fuzzy logic and the laws governing it, which will result the most efficient path in very little time. Then, how to use and implement Fuzzy toolbox in MATLAB software will be discussed. Evaluation of the results show that the proposed model has a higher rate than other existing models, in the field of the optimal control of robot path.

کلیدواژه ها:

fuzzy logic ، Majlesi Branch ، en ، Mechanical Arm ، Islamic Azad University ، Optimization ، Series Robot