Fuzzy control of robotic arm implemented in PLC

摘要

This article deals with a design of a fuzzy control system for robotic arm and its implementation to PLC. Fuzzy logic is used to calculate the proper speed of robot tool center point depending on the tilt of the joystick handle in manual operating mode. In fully automatic mode the fuzzy logic is used in form of a fuzzy PI controller to achieve the desired velocity with the load compensation. Fuzzy system was designed in the Siemes Fuzzy Control ++ and was implemented to Simatic S7-300 PLC.