By: Vasishtha Sohani

 Determine Torque regimes required to achieve given:

1. Position
2. Velocity and,
3. Acceleration for each link of a robot manipulator.
 Reinforce my overall learning
 Explore Robotics
 Explore Techniques implementing Computational Intelligence
 Fuzzy : A very vague situation which is uncertain, lacks precision. Poses an
equivocal question with equivocal answers.

 E.g. I will see you ‘around’ 5.

 It will rain in the ‘evening’.
 Movie was ‘just fine’.
 Unlike Boolean logic, where answers are either 0 or 1, Fuzzy logic provides
answers over the entire range of [0,1].
 Assigns a certain percentage membership to a parameter with respect to the
given set.

 Thermostat : A classic example.

Conventional Control Systems Fuzzy Control Systems
 Easier to Model non-linear, Time varying systems
 Generates outputs for wide range of reference inputs
 Takes in a wide range of Disturbances signal
 Takes into consideration undesired effects such as noise.
 Wider interval of controlled variables
 Model Robot Manipulator
 Design and Analyze using Fuzzy Control Algorithm
 Acquire Simulation Results
 • Understand Dynamics of Manipulator
Modeling • Model it Mathematically

• PD Controller Design
Controller
Design
• Fuzzy Controller Tuning

• Controller Model taken into Simulink

Simulation Environment
 Robotics Toolbox : Uses Newtonian-Euler due to its computational frequency.
 Main Components : Robot Object, inverse dynamics, and the reference trajectory
blocks.
 JTRAJ Block
1. Reference Trajectory to be followed by Manipulator
2. Overall Trajectory Planning

 RNE Block

1. Computes the Torque required to follow the given Trajectory

 Employed ‘Signal Constraint Block of Response Optimization Toolbox’
 No Manual Tuning Used ( Imprecise and Accurate)
 Performance Constraint for Tuning:
1. Rise Time
2. Settling Time
3. Overshoot
4. Steady State Error
 PD Controller Scheme to find Optimized controller gain.
 Allows for constraining response to satisfy rise time, settling time, overshoot and
steady state error.
 FC is implemented on each robotic arm
 Inputs : position and velocity error
 Outputs: control signal to adjust Kp and Kd parameters accordingly.
 FANUC Robots are essentially a Robot Manipulator
 Ways to enhance the controllers
 https://ieeexplore.ieee.org/document/8570085