A fuzzy rule based shoulder movement control technique for prosthetic arm

摘要

This paper suggests a Fuzzy logic technique for designing the control system for the movement of the shoulder joint for prosthetic arm having two degrees of freedom. FIS GUI in MATLAB & Simulink software is used for this objective. The main objective of this paper is to obtain movement of the shoulder joint in intermediate positions using Mamdani fuzzy control logic. The two inputs used in this study are 360O rotation in both Clockwise and Anti-Clockwise direction and the up-down movement. Both the clockwise and anticlockwise rotation are divided into 5 membership function each that is, it has a total of 10 membership functions and is combined according to the priority. Similarly for the second input that is up-down movement 3 membership functions are taken. Thus, there is a total of 30 combinations of membership functions. The membership function of the output is then obtained. Each combination of membership functions describes different movement. A set of rules for each combination of the input variables is used to control the shoulder joint movement to obtain the desired output.