METHOD OF DESIGNING FUZZY SYSTEM FOR PLANNING ROBOT MANIPULATOR REAL-TIME MOVEMENT IN A STATIC ENVIRONMENT

Abstract

Under rapid development of science and industry the industrial robots and robotic systems are more widely used in the field of industry. The robots and robotic systems help to manage and master new technological processes efficiently and effectively. In this article there was carried out the analysis of the two degree of freedom (DOF) robot arm, which is widely used in practice in order to reveal its functions and to identify its key dynamic parameters using fuzzy logic system. The mathematical model of robot arm dynamics is composed, which includes the mathematical models of the robot arm links twirling motors and the direct positions task model generating the end point of the robot. After the analysis of the robot model the expanded research was performed – after calculating the missing parameters of experimental 2DOF robot arm motors there was created the robot arm model with „V-REP“ and “MATLAB Simulink” software packages that allowed to set the control voltages and to observe the changing in time processes of link velocity trajectories. There is calculated designed planar robot end point trajectory deviation from the dynamic trajectory.