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Robotics and Control Systems

  • M. H. Fazel ZarandiEmail author
  • H. Mosadegh
Chapter
Part of the Studies in Fuzziness and Soft Computing book series (STUDFUZZ, volume 341)

Abstract

Robots are of those intelligent systems created to do a wide range of activities with the aim of human aid and productivity improvement. Besides, many different fields of studies such as engineering, healthcare, computer science, mathematics and management are involved in order to increase the efficiency and effectiveness of robots. Generally speaking, robotics and control systems is a branch of engineering science that deals with all aspects of robot’s design, operation and control. More precisely, the concept of control in this paper is knowing the techniques required for programming robot’s activities such as its physical movements, rotations, decisions and planning. In addition to mathematical modeling optimization and scheduling, there are a lot of control theory based approaches dealing with physical movement control of the robot at every moment of time. Due to the uncertainties, fuzzy set theory, applicable for all control techniques, is extensively used for robots. The role of fuzzy modeling becomes more evident when one can include human expertise and knowledge via fuzzy rules in the control system. Without loss of generality, this paper presents fuzzy control techniques as well as fuzzy mathematical scheduling model for an m-machine robotic cell with one manipulator robot. Furthermore, it proposes an integrated fuzzy robotic control system, in which the fuzzy optimization model is solved at every predetermined period of time such as beginning of shifts or days, etc. Then, based on the solutions obtained, input parameters and unpredictable disturbances, the autonomous fuzzy control is executed continuously. These two modules transfer information and feedback to each other via an intermediate collaborative module. The explanations are supported via an example.

Keywords

Robotic Control Fuzzy Optimization Rule-based 

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Copyright information

© Springer International Publishing Switzerland 2016

Authors and Affiliations

  1. 1.Department of Industrial Engineering and Management SystemsAmirkabir University of TechnologyTehranIran

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