Fuzzy control of the position for the piston of an industrial robot

摘要

Abstract:- This paper presents the way to create a fuzzy controller used to command a fluid flow servo-valve with force reaction, this servo-valve being the execution element of an industrial robot adaptation system which adjusts the position on one axel. Practically, beginning from a value of the reference (the position in which we wish to move the free extremity of the hydraulic cylinder’s piston’s cane), for example at half the distance the piston covers and at a value of the speed with which the piston moves at a certain moment, the paper goes through all the stages of fuzzy algorithm and a firm value of the command which the controller produces in this case. The spread of the applications’ field of the numerical systems for adjustment and control of the technological processes is, obviously, sustained by the superior performances achieved by such systems, as is the case of the fuzzy system, comparing to the conventional analogical automated systems. Key-Words:- fuzzy algorithm, servo-valve, industrial robot. 1