PI-type fuzzy logic control of a dual arm robot

Abstract

In this study, as an application of robotics in hazardous tasks, a dual arm cooperative robot system is considered. The robot system is consisting of two planar arms; each of them has two degrees of freedom. The robot arms are in a task which requires handling and transporting a load in horizontal plane from its initial position to desired location with reliability. Dynamic equations of the physical model of two-arm planar robot are derived and then a PI-type fuzzy logic controller is applied to have the model maintain a desired trajectory of motion. Numerical results show promising performance such that proposed PI-type fuzzy logic controller can be used for the trajectory tracking of dual arm robots during load transportation tasks safely.