Journal of Applied Mathematics and Computation

ISSN Print: 2576-0645 Downloads: 83256 Total View: 1312965
Frequency: quarterly ISSN Online: 2576-0653 CODEN: JAMCEZ
Email: jamc@hillpublisher.com
Article 10.26855/ jamc.2018.05.003

Fuzzy Logic Based Position Control of Triglide Robot

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
Published: May 24,2018

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.

References

 

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