Abstract
Рurpose of research. Situations that reduce the accuracy of links positioning often arise due to the drab of contacts during the operation of robot manipulator. One of this problem solutions is signal filtering. Modern digital filtering algorithms have a rather complex mathematical structure. Data processing in such filters takes long time. So the purpose of this work is to develop fast-acting fuzzy digital filter device capable to eliminate the problem of contact scrapping when positioning the links of robot manipulator.Methods. Generalized mathematical model was used in the development of digital filter device. This model is implemented by using fuzzy logic theory. Generalized mathematical model of the fuzzy digital filter includes a model determining a support of fuzzy output variable, a model for determining coefficients of fuzzy digital filter and a model for converting the output voltage into a rotation angle of robot manipulator servo drive. This mathematical model makes it possible to recalculate the voltage supplied to the input of fuzzy digital filter using two control coefficients thereby improving the positioning accuracy of robot manipulator links.Results. During experimental studies, comparative analysis of developed fast-acting device of fuzzy digital filter with Kalman filter was carried out. The RMSE standard error for two filters was calculated. The average RMSE value of the fuzzy digital filter was 0.0185 of Kallman's filter was 0.0193.Conclusion. Generalized mathematical model of fuzzy digital filter device consisting of three models is described. Device implementing determination of caliper of fuzzy output variable, experimental model of robot manipulator, experimental research and proposed mathematical model are presented.
Highlights
Situations that reduce the accuracy of links positioning often arise due
develop fast-acting fuzzy digital filter device capable to eliminate the problem of contact scrapping when positioning the links of robot manipulator
Generalized mathematical model was used in the development of digital filter device
Summary
Нечеткий цифровой фильтр применяется для стабилизации перемещения звеньев робота-манипулятора. Где MК – математическая модель нахождения суппорта нечеткой выходной переменной; MРВН – математическая модель расчета выходного напряжения; MПР – модель преобразования выходного напряжения в угол поворота сервопривода. Расчет меток выходной функции принадлежности по формуле Нахождение αмин и αмакс для формирования суппорта нечеткой выходной переменной по формуле (5) (рис.). Дефаззификация, при которой осуществляется расчет четкого значения коэффициента нечеткого цифрового фильтра α по формуле [17,18,19,20]:. Математическая модель преобразования выходного напряжения в угол поворота сервоприводаMПР состоит из 2 шагов: Шаг 1. Преобразование, полученного напряжения с помощью нечеткого цифрового фильтра в угол поворота передаваемого от микроконтроллера на сервоприводы по формуле:. Где – угол поворота сервопривода, Uфильтр – значение выходного напряжения, полученное по формуле (14), Imin, Imax – минимальное и максимальное значения выходного напряжения 0 и 1024, Umax, Umin – максимальное и ми-
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