Abstract
The pneumatic actuators can be a useful way to control the position of a manipulator robot, instead of an electrical actuator. The major problem with pneumatic actuators is the compressibility of the air, due to the fact that the mathematical model is a system formed by a set of highly non-linear equations then a simple PID control is not enough to control the robot position, and fuzzy logic is a good option. This work is focused on the hardware implementation of Fuzzy logic algorithm into FPGA system. This paper also presents a methodology to implement a pneumatic control using fuzzy logic, into a FPGA device, which is the main contribution of this work. The air flow is controlled with a pulse width modulation, applied to the pneumatic electro- valve, with 25 ms of period.
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Ramos-Arreguin, JM. et al. (2010). Fuzzy Logic Hardware Implementation for Pneumatic Control of One DOF Pneumatic Robot. In: Sidorov, G., Hernández Aguirre, A., Reyes García, C.A. (eds) Advances in Soft Computing. MICAI 2010. Lecture Notes in Computer Science(), vol 6438. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-16773-7_43
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DOI: https://doi.org/10.1007/978-3-642-16773-7_43
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