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. © 2010 Springer-Verlag.
CITATION STYLE
Ramos-Arreguin, J. M., Guillen-Garcia, E., Canchola-Magdaleno, S., Pedraza-Ortega, J. C., Gorrostieta-Hurtado, E., Aceves-Fernández, M. A., & Ramos-Arreguin, C. A. (2010). Fuzzy logic hardware implementation for pneumatic control of one DOF pneumatic robot. In Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics) (Vol. 6438 LNAI, pp. 500–511). https://doi.org/10.1007/978-3-642-16773-7_43
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