起重机器人模糊逻辑方法分析

2019 3rd International Conference on Electrical, Telecommunication and Computer Engineering (ELTICOM) Pub Date : 2019-09-01 DOI:10.1109/elticom47379.2019.8943852

Muhammad Furqon Siregar, P. Sihombing, Suherman

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引用次数: 3

摘要

本文讨论了模糊逻辑在吊臂机器人中的实现。采用模糊逻辑计算输入值，避免因负载权重变化导致功率不合适。对吊运机器人的性能评价是机器人吊运货物的成功程度。系统应通过确定负载质量来确定电机的转速。系统采用ATmega328单片机进行设计。驱动杆和夹紧杆采用伺服电机。采用质量传感器预测负载质量。为了评估机器人的性能，由于机器人的结构，负载被限制在最大900克的重量。实验结果表明，采用冢本模糊逻辑模型确定斜坡伺服的程度具有较好的精度。机器人更稳定，四个电机坡度平均值为34.1%。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Analysis of Fuzzy Logic Method for Load Lifting Robot

This paper discusses fuzzy logic implementation in a load lifting arm robot. Fuzzy logic is used to calculate input values to avoid unsuitable power due to load weight variation. The evaluated performance on the load lifting robot is the successfulness of robot in lifting the load. System should determine the load mass to decide the motor rotation. System is designed by using the ATmega328 microcontroller. Servo motors are employed for driving lever and pinching lever. Mass sensor is employed to predict the load mass. In order to evaluate robot performance, load is limited to a maximum weight of 900 gram due to robot construction. The experiments show better accuracy results in determining the degree of slope servo when Tsukamoto's fuzzy logic model is implemented. Robot is more stable and the average value of the four motor slopes is 34.1%.

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来源期刊

2019 3rd International Conference on Electrical, Telecommunication and Computer Engineering (ELTICOM)

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