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Implementación de un control fuzzy para el control cinemático directo en un robot manipulador Implementation of a fuzzy control for the direct kinematic control of a robot manipulator

By D.A Tibaduiza, I Amaya, S Rodríguez, N Mejia and M Flórez

Abstract

En este artículo se muestra el desarrollo e implementación de la lógica difusa como herramienta de control de posición para cada una de las articulaciones de un robot tipo PUMA. Se hace una descripción general del robot y se muestra el cálculo del volumen de trabajo, el cual es usado para la fuzzificación en el desarrollo del controlador. Finalmente es mostrado el desarrollo y la simulación del controlador usando la toolbox fuzzy de Matlab, así como la descripción de una implementación realizada en un PLC.<br>In this article, the development and implementation of a fuzzy logic system as position control tool of each one of the joints in a PUMA robot is shown. A general description, which include general descriptions about the robot as workspace and therefore the development of the strategy of control with the definition of the rules in the fuzzification process is also included. Finally are shown the development and simulation of the controller using the fuzzy control toolbox of Matlab and the description of a implementation in a PLC

Topics: Control cinemático, fuzzy, robótica, manipuladores, PLC, Kinematic control, fuzzy, robotic, robotic arms, PLC, Mechanical engineering and machinery, TJ1-1570, Technology, T, DOAJ:Mechanical Engineering, DOAJ:Technology and Engineering, Industrial engineering. Management engineering, T55.4-60.8, Technology (General), T1-995, DOAJ:Industrial Engineering
Publisher: Universidad de Tarapacá
Year: 2011
OAI identifier: oai:doaj.org/article:0361e23835d74d86aaa0b4a5b45df7de
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