Implementing fuzzy logic control with the XA

Abstract

Most control applications involve the specification of a relationship between sensor signals and actuator outputs. Fuzzy logic provides an intuitive way to accomplish that. It allows the user to use linguistic rules to specify a nonlinear mapping between sensor signals and actuator outputs, thus provide a framework for programing an embedded system. Using a multi-joint robot system as a testbed, we implemented fuzzy logic on an 8051 compatible 16-bit microcontroller—the XA. The robot controlled by the XA running the fuzzy logic algorithm is able to carry out a goal-directed motor sequencing behavior. An 8XC552 is also used to directly interface with the robot and communicate with the XA through I 2 C. In addition to carrying out AD/PWM conversions, the ’552 also implements multiple loops of linear feedback for servo positioning and compliance control. This application note will demonstrate the implementation of Fuzzy Logic in an embedded control solution using the Philips XA microcontroller.