Department of Electrical and Electronics Engineering, Holy Mary Institute of Technology and Science, Hyderabad, India.
Department of Automobile Engineering, Saveetha School of Engineering, Saveetha Institute of Medical and Technical Sciences, Chennai, India.
Sci Rep. 2023 May 22;13(1):8253. doi: 10.1038/s41598-023-35189-2.
The propensity of manufacturers to produce goods at affordable cost, with more accuracy, and at a faster rate force them to search for novel solutions, such as deploying robots in place of people in a sector that can accommodate their needs. Welding is one of the most crucial processes in the automotive industry. This process is time-consuming, subject to error, and demands skilled professionals. The robotic application can improve this area of production and quality. Other industries, such as painting and material handling, can also profit from the use of robots. This work describes the fuzzy DC linear servo controller, which functions as a robotic arm actuator. Robots have been widely employed in most productive sectors in recent years, including assembly plates, welding, tasks at higher temperatures, etc. Controlling a robot accurately is a difficult undertaking as a robot is very nonlinear with many joints that are often organized and unstructured. To carry out the effective task, an effective PID control based on fuzzy logic has been employed together with the method of Particle Swarm Optimization (PSO) approach for the estimate of the parameter. This offline technique determines the lowest number of optimal robotic arm control parameters. To verify the controller design with computer simulation, a comparative assessment of controllers is given by means of a fuzzy surveillance controller with PSO which improves the parameter gain to provide a rapid climb, a smaller overflow, no steady condition error signal, and effective torque control of the robot arm.
制造商倾向于以可承受的成本、更高的精度和更快的速度生产商品，这迫使他们寻找新的解决方案，例如在可以满足其需求的领域部署机器人代替人工。焊接是汽车行业中最重要的工艺之一。这个过程既耗时又容易出错，需要熟练的专业人员。机器人的应用可以改善这一生产和质量领域。其他行业，如涂装和物料搬运，也可以从机器人的使用中受益。这项工作描述了模糊直流线性伺服控制器，它作为机器人手臂执行器的功能。近年来，机器人已广泛应用于大多数生产领域，包括装配板、焊接、高温作业等。由于机器人具有许多关节，通常是有组织和无结构的，因此要准确地控制机器人是一项艰巨的任务。为了有效地完成任务，已经采用了基于模糊逻辑的有效 PID 控制，并结合粒子群优化 (PSO) 方法来估计参数。这种离线技术确定了机器人手臂控制参数的最佳数量。为了通过计算机模拟验证控制器设计，通过具有 PSO 的模糊监视控制器对控制器进行了比较评估，该控制器通过提高参数增益来提供快速爬升、较小的过冲、无稳定条件误差信号以及机器人手臂的有效扭矩控制。
