CONTROL SYSTEM PNEUMATIC ROBOT BASED ON FUZZY LOGIC
The existing disadvantage of pneumatic robots controlled by the scheme limit automation is that the applied pneumatic actuator working in both end positions, so there is a need for flexible control of the positioning of the working bodies in the range of their possible movements. The article is devoted to research and development of control system software for the purpose of tracking the position of a pneumatic robot based on fuzzy logic with the ultimate goal of the quality control of pneumatic robot, namely the accuracy of positioning at intermediate points possible movements, while maintaining high performance and allows you to quickly change the mode of operation of the pneumatic robot. The development of the programme of work of the control system of the robot based on fuzzy logic consists of several stages: expert mode; the stage of formation of arrays of parameters are modified in time, obtained experimentally; the stage of fuzzification, the stage of formation of the rule base; defuzzification stage and the stage of forming of control commands based fuzzy inference.Keywords: pneumatic robot control, fuzzy logic.