Journal of the Korean Society of Manufacturing Process Engineers (한국기계가공학회지)

The Korean Society of Manufacturing Process Engineers (한국기계가공학회)
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A Study on Gain Scheduling Programming with the Fuzzy Logic Controller of a 6-axis Articulated Robot using LabVIEW®

LabVIEW®를 이용한 6축 수직 다관절 로봇의 퍼지 로직이 적용된 게인 스케줄링 프로그래밍에 관한 연구

  • Received : 2017.06.30
  • Accepted : 2017.07.22
  • Published : 2017.08.31
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Abstract

As the demand for industrial robots and Automated Guided Vehicles (AGVs) increases, higher performance is also required from them. Fuzzy controllers, as part of an intelligent control system, are a direct control method that leverages human knowledge and experience to easily control highly nonlinear, uncertain, and complex systems. This paper uses a $LabVIEW^{(R)}-based$ fuzzy controller with gain scheduling to demonstrate better performance than one could obtain with a fuzzy controller alone. First, the work area was set based on forward kinematics and inverse kinematics programs. Next, $LabVIEW^{(R)}$ was used to configure the fuzzy controller and perform the gain scheduling. Finally, the proposed fuzzy gain scheduling controller was compared with to controllers without gain scheduling.

Keywords

References

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