Artificial Intelligent Fuzzy Logic Controller Applied on 6DOF Robot Arm Using LabVIEW and FPGA

Ahlam Najm A-Amir, Hanan A.R. Akkar

Abstract


In this work an efficient Artificial Intelligent Robotic Fuzzy Logic Controller (AIRFC) system have been constructed to control the robot arm. A serial link Robot manipulator with 6 Degree of Freedom (DOF) from DFROBOT of code ROB0036 is used as a case study. A fuzzy logic type1 controller is implemented on LabVIEW to control each joint of the robot arm for nonlinearity measurements and a fuzzy logic type2 controller is applied which is more suitable for uncertainty. The hardware design is implemented and finally downloaded using the Field Programmable Gate Array (FPGA) kit named PCI-7833R from National Instrument. By using the LabVIEW FPGA MODEL the target board can be detected for software implementation of the controllers’ systems. The work shows that in case of type2 fuzzy logic the rise time is less than that of type1 fuzzy logic for the shoulder, wrist roll and the gripper angles and it is higher for base, elbow and wrist pitch angles. The settling time is the same in elbow and wrist pitch angles and for the type2 fuzzy controller it is less for other angles.


Keywords


Artificial Intelligent; Robotic Arm; Fuzzy Logic; LabVIEW; FPGA

Full Text:

PDF

References


J. J. Craig, "Introduction to Robotics Mechanics and Control," third edition, Pearson Education International,2005.

H. A. R. Akkar and A. N. A-Amir," Kinematics Analysis and Modelling of 6 Degree of Freedom Robotic Arm from DFROBOT on LabVIEW," Research Journal of Applied Sciences, Engineering and Technology, Maxwell Scientific Publication Corp., vol. 13, no. 7, pp. 569- 575, 2016.

H. A. R. Akkar, and A. N. A-Amir, “Forward Kinematics and Workspace Analysis of 6DOF Manipulator Arm Applied on LabVIEW," SAUSSUREA (ISSN: 0373-2525), vol.7, no. 1, pp. 1-11, 2017.

M. Crenganis, R. Breaz, G. Racz and O. Bologa, " The Inverse Kinematics Solutions of a 7 DOF Robotic Arm Using Fuzzy Logic,"7th IEEE Conference on Industrial Electronics and Applications (ICIEA), pp. 51.

P. P. Cruz, and F. D. R. Figueroa," Intelligent Control Systems with LabVIEW™," Springer- Verlag, London, 2010.

S. Sankhadip, K. R. Mrityunjay and R. Priyanka, "A Comparison between the Performance of Fuzzy Logic- based PD Controller and General PD Controller, " Original Research Articles, vol. 1, no. 2, ISSN: 2277– 1891, pp. 1- 12, March- April 2012.

O. Castillo, "Interval Type-2 Fuzzy Logic for Control Applications,” International Conference on Granular Computing, IEEE, pp. 79- 84, doi:10.110, 2010.

J. N. Rai, M. Singhal and M. Nandwani, "Speed Control of Dc Motor Using Fuzzy Logic Technique," Journal of Electrical and Electronics Engineering (IOSR- JEEE) ISSN: 2278- 1676, vol. 3, Issue 6, pp. 41- 48, 2012.

C. C. Mouli, P. Jyothi, K. N. Raju and C. Nagaraja," Design and Implementation of Robot Arm Control Using LabVIEW and ARM Controller," Journal of Electrical and Electronics Engineering (IOSR- JEEE) e- ISSN: 2278-1676, vol. 6, no. 5, pp. 80- 84, Jul. – Aug. 2013.

J. Velarde- Sanchez, S. A. Rodriguez- Gutierrez, L. G. Garcia-Valdovinos and J. C. Pedraza- Ortega," 5- DOF Manipulator Simulation Based on MATLAB Simulink Methodology," 20th International Conference on Electronics, Communications and Computer (CONIELECOMP), Cholula, IEEE, pp. 295-300, 2010.

J. Iqbal, R. U. Islam and H. Khan, “Modeling and Analysis of a 6 DOF Robotic Arm Manipulator'. Canadian Journal on Electrical and Electronics Engineering, vol. 3, No. 6, pp. 300- 306, July 2012.

U. Meshram, P. Bande and R. R. Harkare," Hardware and Software Co- design for Robot Arm Position Control Using VHDL & FPGA," International Conference on Advances in Recent Technologies in Communication and Computing, PP 780- 782, doi:10.1109/ART Com, 2012.

U. D. Meshram and R. R. Harkare," FPGA Based Five Axis Robot Arm Controller, "International Journal of Electronics Engineering, vol. 2, no. 1, pp. 209- 211,2010.

M. Abu Qassem, I. Abuhadrous and H. Elaydi, "Modeling and Simulation of 5 DOF Educational Robot Arm," 2nd International Conference on Advanced Computer Control (ICACC), Shenyang, IEEE, vol. 5, pp. 569-574, doi: 10.1109/ICACC, 2010.

M. Zeinali and L. Notash," Fuzzy Logic – Based Inverse Dynamic Modeling of Robot Manipulator," Transactions of the Canadian Society for Mechanical Engineering, vol. 34, no. 1, pp. 137 -150,2010

P. Ponce-Cruz, A. Molina and A. Tellez-Velazquez," Hardware Type2 Fuzzy Logic Position Controller Base on Karnik-Mendel Algorithms'. Journal of Control Science and Engineering vol.1, pp.1- 12, 2013.

B. Siswoyo, M. A. Choiron, Y. S. Irawan and I. N. G. Wardana, " System, doi:10.17148, March 2015.

E. Punna, R. K. Nenavath and B. Maloth," LabVIEW Controller Robotic ARM." International Journal of Science, Engineering and Technology Research (IJSETR), vol. 4, Issue 7, pp. 2508- 25011 July 2015.

P. P. Cruz, A. Molina and B. MacCleery," Fuzzy Logic Type 1 and Type 2 Based on LabVIEW™ FPGA," Studies in Fuzziness and Soft




DOI: http://dx.doi.org/10.24018/ejers.2018.3.5.661

Refbacks

  • There are currently no refbacks.


Copyright (c) 2018 Ahlam najm A-Amir