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Fuzzy Logic of PUMA 560 Robot

version 1.1.0.0 (240 KB) by Abdel-Razzak
Fuzzy control algorithm is used to control a three degree of freedom PUMA560 robot.

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Updated 31 Mar 2016

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Fuzzy control algorithm is used to control a three degree of freedom PUMA560 robot.

The robot dynamics are taken from:
Brian Armstrong, Oussama Khatib & Joel Burdick , “The Explicit Dynamic Model and Inertial Parameters of the PUMA 560 Arm” , Stanford University, Artificial Intelligence Laboratory, IEEE 1986

Put the libraries lorenz3d, sfunxyz and m3dscope into your work folder of the MATLAB

Cite As

Abdel-Razzak (2019). Fuzzy Logic of PUMA 560 Robot (https://www.mathworks.com/matlabcentral/fileexchange/22146-fuzzy-logic-of-puma-560-robot), MATLAB Central File Exchange. Retrieved .

Comments and Ratings (8)

Abdel-Razzak

I would suggest that you use different solvers; for me, "ode15" works perfectly. You may need to check for other solvers as well. You may need also to change the step size, or to set boundaries for the integrator block.

Good luck,

Alex

there's an error while executing this model.the error heppend on integrator block'PUMA_fuzzy/3-Link PUMA Robot-Block /FirstLink/Integrator

Abdel-Razzak

Try to change the bounds of the integrator or some of its properties. To the best of my knowledge, this is because of the version change (note that such problems happened starting from 2011). For a 2008 program this is expected.

there's an error while executing this model.the error heppend on integrator block'PUMA_fuzzy/3-Link PUMA Robot-Block /FirstLink/Integrator.

Benjamin

dear sir...
there's an error while executing this model.the error heppend on integrator block'PUMA_fuzzy/3-Link PUMA Robot-Block /FirstLink/Integrator.

There's an error while I executing this simulink model. The error happened on Integrator block 'PUMA_fuzzy/3-Link PUMA Robot-Block /FirstLink/Integrator.

Please help

totostyle

merci

Updates

1.1.0.0

BSD license update

1.1.0.0

The famous 'aerolibutil' library is added finally, along with some documents about the 3 dof PUMA 560 Robot

MATLAB Release Compatibility
Created with R14
Compatible with any release
Platform Compatibility
Windows macOS Linux
Categories

Fuzzy Control of PUMA Robot/