This paper develops a novel interval type-2 fuzzy Proportional-Derivative (PD) control scheme for electrically driven flexible-joint robots using the direct method of Lyapunov. The controller has a simple design in a ...This paper develops a novel interval type-2 fuzzy Proportional-Derivative (PD) control scheme for electrically driven flexible-joint robots using the direct method of Lyapunov. The controller has a simple design in a decentralized structure. Compared to the previous controllers reported for the flexible-joint robots which use two control loops, it has a simpler structure using only one control loop. It guarantees stability and provides a good tracking performance. The controller considers the whole robotic system including the manipulator and motors by applying the voltage control strategy. Stability analysis is presented and the effectiveness of the proposed control approach is demonstrated by simulations using a three link flexible-joint robot driven by permanent magnet DC motors. Simulation results show that the interval type-2 fuzzy PD controller can handle external disturbance better than the type-1 fuzzy PD controller. In addition, it spends less control effort than the type-1 in order to deal with disturbance.展开更多
This paper deals with part sequencing and optimal robot moves sequence in 2-machine robotic cells according to Petri net graph. We have assumed that the robotic cell is capable of producing same and different parts. W...This paper deals with part sequencing and optimal robot moves sequence in 2-machine robotic cells according to Petri net graph. We have assumed that the robotic cell is capable of producing same and different parts. We have considered a new motion cycle for robot moves sequence which is the development of existing motion cycles in 2-machine robotic cells. The main goal of this study is to minimize the cycle time by determining the optimal part sequencing and robot moves sequence in the robotic cell. So, we have proposed a model based on Petri network.展开更多
Navigation of autonomous mobile robots in dynamic and unknown environments needs to take into account different kinds of uncertainties. Type-1 fuzzy logic research has been largely used in the control of mobile robots...Navigation of autonomous mobile robots in dynamic and unknown environments needs to take into account different kinds of uncertainties. Type-1 fuzzy logic research has been largely used in the control of mobile robots. However, type-1 fuzzy control presents limitations in handling those uncertainties as it uses precise fuzzy sets. Indeed type-1 fuzzy sets cannot deal with linguistic and numerical uncertainties associated with either the mechanical aspect of robots, or with dynamic changing environment or with knowledge used in the phase of conception of a fuzzy system. Recently many researchers have applied type-2 fuzzy logic to improve performance. As control using type-2 fuzzy sets represents a new generation of fuzzy controllers in mobile robotic issue, it is interesting to present the performances that can offer type-2 fuzzy sets by regards to type-1 fuzzy sets. The paper presented deep and new comparisons between the two sides of fuzzy logic and demonstrated the great interest in controlling mobile robot using type-2 fuzzy logic. We deal with the design of new controllers for mobile robots using type-2 fuzzy logic in the navigation process in unknown and dynamic environments. The dynamicity of the environment is depicted by the presence of other dynamic robots. The performances of the proposed controllers are represented by both simulations and experimental results, and discussed over graphical paths and numerical analysis.展开更多
文摘This paper develops a novel interval type-2 fuzzy Proportional-Derivative (PD) control scheme for electrically driven flexible-joint robots using the direct method of Lyapunov. The controller has a simple design in a decentralized structure. Compared to the previous controllers reported for the flexible-joint robots which use two control loops, it has a simpler structure using only one control loop. It guarantees stability and provides a good tracking performance. The controller considers the whole robotic system including the manipulator and motors by applying the voltage control strategy. Stability analysis is presented and the effectiveness of the proposed control approach is demonstrated by simulations using a three link flexible-joint robot driven by permanent magnet DC motors. Simulation results show that the interval type-2 fuzzy PD controller can handle external disturbance better than the type-1 fuzzy PD controller. In addition, it spends less control effort than the type-1 in order to deal with disturbance.
文摘This paper deals with part sequencing and optimal robot moves sequence in 2-machine robotic cells according to Petri net graph. We have assumed that the robotic cell is capable of producing same and different parts. We have considered a new motion cycle for robot moves sequence which is the development of existing motion cycles in 2-machine robotic cells. The main goal of this study is to minimize the cycle time by determining the optimal part sequencing and robot moves sequence in the robotic cell. So, we have proposed a model based on Petri network.
文摘Navigation of autonomous mobile robots in dynamic and unknown environments needs to take into account different kinds of uncertainties. Type-1 fuzzy logic research has been largely used in the control of mobile robots. However, type-1 fuzzy control presents limitations in handling those uncertainties as it uses precise fuzzy sets. Indeed type-1 fuzzy sets cannot deal with linguistic and numerical uncertainties associated with either the mechanical aspect of robots, or with dynamic changing environment or with knowledge used in the phase of conception of a fuzzy system. Recently many researchers have applied type-2 fuzzy logic to improve performance. As control using type-2 fuzzy sets represents a new generation of fuzzy controllers in mobile robotic issue, it is interesting to present the performances that can offer type-2 fuzzy sets by regards to type-1 fuzzy sets. The paper presented deep and new comparisons between the two sides of fuzzy logic and demonstrated the great interest in controlling mobile robot using type-2 fuzzy logic. We deal with the design of new controllers for mobile robots using type-2 fuzzy logic in the navigation process in unknown and dynamic environments. The dynamicity of the environment is depicted by the presence of other dynamic robots. The performances of the proposed controllers are represented by both simulations and experimental results, and discussed over graphical paths and numerical analysis.
