Transactions of the Korean Society of Machine Tool Engineers (한국공작기계학회논문집)

The Korean Society of Manufacturing Technology Engineers (한국생산제조학회)
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Real-Time Fuzzy Control for Dual-Arm with 8 Joints Robot Using the DSPs(TMS320C80)

DSPs(TMS320C80)을 이용한 8축 듀얼 아암 로봇의 실시간 퍼지제어

  • 한성현 (경남대학교 기계자동화공학부) ;
  • 김종수 (경남대학교 기계자동화공학부)
  • Published : 2004.02.01
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Abstract

In this paper presents a new approach to the design and real-time implementation of fuzzy control system based-on digital signal processors(DSP:IMS320C80) in order to improve the precision and robustness for system of industrial robot(Dual-Arm with 8 joint Robot). The need to meet demanding control requirement in increasingly complex dynamical control systems under significant uncertainties, leads toward design of intelligent manipulation robots. The IMS320C80 is used in implementing real time fuzzy control to provide an enhanced motion control for robot manipulators. In this paper, a Self-Organizing Fuzzy Controller(SOFC) for the industrial robot manipulator with a actuator located at the base is studied. A fuzzy logic composed of linguistic conditional statements is employed by defining the relations of input-output variables of the controller. In the synthesis of a FLC(Fuzzy Logic Controller), one of the most difficult problems is the determination of linguistic control rules from the human operators. To overcome this difficult SOFC is proposed for a hierarchical control structure consisting of basic and high levels that modify control rules. The proposed SOFC scheme is simple in structure, Int in computation, and suitable for implementation of real-time control. Performance of the SOFC is illustrated by simulation and experimental results for a Dual-Arm robot with eight joints.

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