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Source: www.letu.edu
File size: 1.17 MB
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Thu Apr 12, 2018 01:51:22 AM
Short Desciption:
... C. S. Lee 1, * and R. V. Gonzalez 2 1 Professor, College of Mechanical and Control Engineering ... Fuzzy logic can be divided into three steps: fuzzification, fuzzy asso-cia ted memory (FAM ...
Summary:
Thi This st study udy co comp mpares th ares three ree di diffe ffere rent c nt cont ontrol rol al algor gorit ithms f s for a muscle muscle-like -act actuate uated ar d arm de m develo veloped ped to replicate plicate mo motio tion
in t two d o degree ees-o s-of-fre -freed edom (df) f): el : elbo bow fle w flexion/e on/exte tensio nsion (f n f/e) a /and f nd forear rearm pr pronat onation/supinati ation ( on p/s). ). Electr Electromy myogra ogram
(EMG) i is empl ployed to help ed det determine t e the c e cont ontro rol si signal gnal used ed to act actuate t uate the mu muscle c scle cylinders. linders. Th Three d ree diffe fferent rent ty types o pes of
cont control strate rol strategie gies were atte attempte mpted. The d. fi first rst al algorit gorithm used fuzzy logic wi with E th EMG signal gnals and pos positi ition error a on as cont ontrol rol
input inputs (F Fuzzy uzzy Cont Control roller). The s er). second cond algorit algorithm incorporate corporated moment arm nt information i formation into the exi existi ting fuzzy ng logic
cont control roller er (Fuz uzzy zy-MA -Co Cont ntrol roller). er). The thi third algorit d algorithm wa was a conve conventiona ntional Proportional-Integral Integral-D -Deri erivative (P ative PID) ID) con- control
troller, ler, which ope operated solely ated on positio position a n and int d integration error (PID gration Controlle Controller). r). Overall, m moment ment arm scali scaling aided the
fuzzy logic co contr ntrol alg l algori rith thm by impr improvi oving ng move moveme ment acc nt accuracy uracy as determine determined by relative e error a ror and nd correlati correlation. T on. The
PID cont ontroller re roller resulted in lted the m e most st accura accurate m te move vement nt tracki acking ng aft after fi r fine tuni ne tuning t ng the cont control rol gai gains. This study im implie plies
that mom moment a nt arm scal m scaling i ing is an effe effective t ctive tool for ol improvin proving motion t tracking acc king accuracy uracy of the fuzzy controller in the me-
chanic chanical arm al arm. The s e study udy als also impl plies ies that at PID controller ca D can be n us used as a subs substi titute tute for the fuzzy bas based cont d controll roller once
er the de desired red mot motion i on is prescri prescribed. ed.
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