CEG 4158 Lecture Notes - Lecture 6: Zero-Order Hold, Prismatic Joint, Fuzzy Control System
2 Dec 2018
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When controlling a robot, a compromise must generally be made between its compliance and: its payload (the weight it can handle, its workspace dimensions, its maximum velocity, its forward kinematic model, its repeatability. The response of a joint on a high-precision robot controlled with a proportional (p) feedback loop tends to stabilize at a completely different angle than the one expected as shown below. This creates a significant error at steady-state that preempts the manufacturer from selling his technology. Given a fuzzy logic controller having the following input and output membership functions. The following table defines the fuzzy rules encoded in this controller. input 1. If inputs 1 and 2 respectively receive the following crisp values from the sensors: input #1 = 8. 75 input #2 = -5. 0. Determine the corresponding crisp value for the output. Detail each intermediate step of the inference process.
