Proceedings of the KIEE Conference (대한전기학회:학술대회논문집)

The Korean Institute of Electrical Engineers (대한전기학회)
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Development of a Controller for an Educational Robot and Implementation of a Fuzzy Algorithm

교육용 로보트의 제어기 개발 및 퍼지 알고리즘의 구현

  • Lee, Jun-Bae (Dept. of Electronic Engineering, Kookmin University) ;
  • Kim, Sung-Hyun (Dept. of Electronic Engineering, Kookmin University) ;
  • Kim, Do-Hyun (Dept. of Electronic Engineering, Kookmin University) ;
  • Ahn, Hyun-Sik (Dept. of Electronic Engineering, Kookmin University)
  • Published : 1996.07.22
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Abstract

In this paper, we develop a control system of an Educational Robot and implement a fuzzy algorithm for the position control. The MA2000 robot manufactured by TecQuipment Co. is the controlled system and 3 axes(waist, shoulder, elbow) of total 6 axes are controlled by the fuzzy logic-based algorithm. The control system consists of an IBM PC, an interface board capable of A/D conversion and PWM generation, and a drive board for dc motors in joints of the robot. The experiments show that the modified fuzzy algorithm yields a better performance in steady-stale than that of the conventional fuzzy algorithm.

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