Muhammet AYDIN a,*, Oğuz YAKUTb
aFirat University, Department of Mechatronics Engineering, Elazig, Turkey
bFirat University, Department of Mechatronics Engineering, Elazig, Turkey
*Corresponding author: Muhammet AYDIN, Firat University
Abstract
In this paper, three degrees of freedom
triglide parallel robot which is usually used in pick and place operations has
been controlled. Triglide robot has been controlled by using fuzzy logic
control method via a program written in Matlab being used dynamic equations
with inverse and forward kinematic solutions of the robot. The derivative of
error and error has been preferred as the input in the fuzzy logic structure.
As the output, the control signal is generated from the fuzzy logic structure.
The limit values of the membership functions of the fuzzy logic controller were
found by optimization using the genetic algorithm via a program written in the
Matlab package program. The controls have been repeated for three different
reference points to demonstrate the success of the fuzzy logic controller on the
triglide parallel robot. The system responses have been obtained graphically
with the controls applied to the triglide parallel robot and the results have
been examined. As a result, it is obviously seen that the system has reached
the desired reference values approximately in 0.16 seconds with the fuzzy logic
controller.
How to cite this paper
Fuzzy Logic Based Position Control of Triglide Robot
How to cite this paper: AYDIN, M. & YAKUT, O. (2018) Fuzzy Logic Based Position Control of Triglide Robot. Journal of Applied Mathematics and Computation, 2(5), 188-200.
http://dx.doi.org/10.26855/ jamc.2018.05.003
